CN114012314A

CN114012314A - Anti-collision protector

Info

Publication number: CN114012314A
Application number: CN202111322155.3A
Authority: CN
Inventors: 孙晓松
Original assignee: Zhengzhou Apollo Robot Accessories Co ltd
Current assignee: Zhengzhou Apollo Robot Accessories Co ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-02-08

Abstract

The invention relates to an anti-collision protector, which comprises a butt joint sleeve, an end cover, a butt joint hole and a base, wherein the butt joint sleeve is fixedly connected with the end cover; the butt joint sleeve is used for being connected with a welding gun cable; one end of the butt joint sleeve is provided with a butt joint disc; the end cover is sleeved on the butt joint sleeve and is magnetically connected with the butt joint disc; the end cover is fixedly connected with the base and is enclosed into an avoidance cavity, and the butt joint disc is positioned in the avoidance cavity; at least two groups of butt joint assemblies are arranged between the butt joint disc and the end cover; the butt joint component comprises a butt joint pin and a butt joint hole; one end of the butt joint pin is provided with a transition part for guiding butt joint and positioning a butt joint position; a spring is arranged in the avoiding cavity, one end of the spring is clamped with the butt joint disc, and the other end of the spring is clamped with the inner wall of the avoiding cavity. The butt joint pin is provided with the guide section and the positioning section, so that the butt joint is more accurate in the process of restoring the welding gun to the original state; the spring provided with the butt joint corrects the radial offset and the rotation error of the butt joint disc, and is convenient for butt joint of the butt joint assembly; thereby ensuring the butting precision; and the insulating sleeves are adopted for connection, so that the structure is simpler.

Description

Anti-collision protector

Technical Field

The invention relates to the technical field of anti-collision of welding guns of welding robots, in particular to an anti-collision protector.

Background

The welding robot is an industrial robot for welding (including cutting and spraying), and is an automatic welding device for attaching a welding tongs or a welding gun to a shaft end flange of the industrial robot and automatically welding a workpiece under a corresponding program.

In a welding robot, a welding gun is a vital component, the welding effect depends on the welding gun to a great extent, in the industry, the welding robot causes shutdown accidents in the use process, most of the accidents are caused by collision of the welding gun with a workpiece or other objects such as a clamping tool and a supporting frame, once the welding gun is collided, the normal operation of subsequent welding can be directly influenced, the welding gun can be permanently damaged under severe conditions, and irreparable loss is caused. Under the situation, an anti-collision protector is additionally arranged between a welding gun and the six tail ends of the robot in the industry, so that the welding gun is actively deformed before plastic deformation occurs to the welding gun when accidental collision occurs, impact force generated by instant collision is buffered, damage to the welding gun is reduced to the maximum extent, and the welding gun is automatically driven to reset after the collision is finished, so that the initial state is recovered.

Various types of anti-collision protectors exist, for example, patent document No. CN204818389U discloses an anti-collision robot welding gun, wherein a limit spring is arranged to buffer the impact force of the welding gun during accidental collision, although this way can protect the welding gun to a certain extent, the limit spring gathers larger and larger elastic potential energy in the process of gradual compression and reacts on the welding gun, so that the welding gun still receives a certain elastic force, and there is a strong possibility of permanent damage to the welding gun; there is also an anti-collision device for buffering impact through magnetism of magnet, for example, patent document No. CN206982040U discloses a magnetic force anti-collision air-cooling robot welding gun, in which a movable flange and a fixed flange connected by magnetic force are arranged to buffer impact force generated by collision of the welding gun, the impact force causes the two to separate from each other during collision, and then the two are adsorbed and restored to original shape through magnetic force, although this method avoids reaction force generated by a spring to the welding gun, because the magnetic permeability of air is relatively 1, and the magnetic permeability of ferromagnetic material is usually much greater than 1, such as cast iron is 200-, the degree of industrial automation is greatly reduced; except the above-mentioned two kinds of modes, still have another kind of mode, this mode is that the elastic coefficient of spacing spring is reduced on the basis of mode one, adopt a spring that is "soft" promptly to reduce the reaction force to the welding gun to add and establish the board that resets that has a plurality of recesses and compensate because reduced the spring elastic coefficient and the recovery dynamics that causes is little, the problem of low accuracy, though can compromise the solution problem, the board structure that resets is complicated, and there is the sphere on it, the manufacturing procedure is complicated, and the cost is higher, still has certain defect.

Disclosure of Invention

The invention aims to provide an anti-collision protector, which solves the problems of low butting precision and deviation of a butted position when the traditional anti-collision protector is collided and restored.

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

the anti-collision protector comprises a butt joint sleeve, an end cover, a butt joint assembly and a base;

the butt joint sleeve is used for being connected with a welding gun cable; one end of the butt joint sleeve is provided with a butt joint disc;

the end cover is sleeved on the butt joint sleeve and is magnetically connected with the butt joint disc; the end cover is fixedly connected with the base and encloses an avoidance cavity, and the butt joint disc is positioned in the avoidance cavity;

at least two groups of butt joint assemblies are arranged between the butt joint disc and the end cover; the docking assembly comprises a docking pin and a docking hole; one end of the butt joint pin is provided with a transition part for guiding butt joint and positioning a butt joint position;

dodge the cavity and be equipped with the spring in, spring one end joint to the dish, cavity inner wall is dodged in other end joint.

Further preferably, the end cover is provided with a butt pin; and the butt joint disc is provided with a butt joint hole.

Further preferably, the end cover is provided with a butt joint hole; and the butt joint disc is provided with a butt joint pin.

Further preferably, the transition portion comprises a conical guide section and a positioning section; the cone angle of the guide section is alpha 1, and alpha 1 is more than or equal to 30 degrees and less than or equal to 120 degrees; the cone angle of the positioning section is alpha 2, and alpha 2 is more than or equal to 0.5 degrees and less than or equal to 60 degrees;

more than one guide section is arranged;

the taper of the positioning section is the same as that of the butt joint hole.

Further preferably, the transition portion is a tapered portion, and a generatrix of the tapered portion is arc-shaped.

Further preferably, at least one of the butt joint disc and the end cover is made of a magnetic conductive material, and the other is circumferentially provided with a magnet.

Further preferably, the docking sleeve comprises an insulating sleeve; the insulation sleeve is provided with a key groove, the welding gun cable is provided with a connector, and the connector is provided with a connecting key matched with the key groove.

Further preferably, a press switch is arranged between the end cover and the butt joint disc; and the press switch is in signal connection with the control signal of the robot welding control system.

Preferably, the two ends of the spring are provided with clamping joints in a manner of being vertical to the axial direction of the spring; a first clamping hole is formed in the butt joint disc; a second clamping hole is formed in the inner wall of the avoiding cavity; the first clamping joint and the second clamping joint correspond to the clamping joints at two ends of the clamping spring respectively.

Further preferably, the welding gun cable is externally wrapped with a sleeve.

The invention has the beneficial effects that:

the anti-collision protector comprises an anti-collision protector, wherein a butt joint assembly is arranged between an end cover and a butt joint disc, the butt joint assembly comprises a butt joint pin and a butt joint hole, a transition part for guiding butt joint and positioning a butt joint position is arranged at the butt joint end of the butt joint pin, when the initial state is recovered after collision, the transition part enables the butt joint pin and the butt joint hole to be matched more accurately, the matched position is ensured to be completely the same as the original position, and the defects of the traditional anti-collision protector adopting a taper (the taper is too large, butt joint is not easy, the butt joint pin is often butted outside the butt joint hole, the taper is too small, and the positioning precision cannot be ensured) are completely overcome; the spring is arranged between the butt joint disc in the avoiding cavity and the wall of the avoiding cavity, and the characteristic that the spring is restored to an original state after being bent in the radial direction is also applied to the avoiding cavity in addition to the characteristic that the spring is applied to the ordinary axial extension and retraction; because the end cover is magnetically connected with the butt joint disc, a 'soft' spring compared with the mode in the background technology can be selected in the technical scheme, and the gun neck assembly can be effectively prevented from being influenced by the telescopic potential energy of the spring.

Furthermore, the transition part comprises a guide section and a positioning section, the guide section guides the butt joint pin to carry out butt joint, and the positioning section ensures the positioning precision after butt joint and quickly and efficiently finishes the butt joint; the guide section can be provided with a plurality of to guarantee that the butt joint process is more stable.

Further, the insulation between butt joint sleeve and the welder cable is not realized by adopting a common insulation flange, but is established an insulation sleeve added with a key groove in the inner sleeve of one end of the butt joint sleeve, and a connecting key matched with the key groove is arranged on the connecting head of the welder cable, so that the insulation between the two is realized to stop rotating and matching, and compared with the mode of adopting the insulation flange, the anti-collision protector is simpler in structure and lighter in whole.

Furthermore, the two ends of the spring are provided with clamping joints, and the inner walls of the butt joint disc and the avoidance cavity are respectively provided with a first clamping hole and a second clamping hole which are in butt joint with the clamping joints; if when collision leads to the relative rotation of taking place to the dish, the rotation deviation that the rotation produced is corrected to the effect relation between accessible joint and first joint hole, the second joint hole, compares with ordinary spring in the traditional anticollision ware, more can guarantee that the state after resumeing is identical with the state before the collision completely, guarantees follow-up continuation welded precision. The action of the spring here is similar to that of a torsion spring.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a schematic view of the construction of the docking sleeve of the present invention;

FIG. 4 is a schematic view of a docking pin according to the present invention;

fig. 5 is a schematic view of the spring structure of the present invention.

Names corresponding to the marks in the figure:

1. the gun neck assembly, 100, the gun neck clamp, 101, lock nut, 2, butt joint sleeve, 3, butt joint dish, 4, gasket, 5, connecting key, 50, keyway, 6, insulating cover, 7, threading groove, 8, control line, 9, push switch, 10, screw, 11, permanent magnet, 12, end cover, 13, spring, 130, joint head, 14, base, 15, butt joint hole, 16, sleeve pipe, 17, welder cable, 18, butt joint pin, 180, location section, 181, guide section, 19, dust cover.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below.

Example 1 of the invention:

as shown in fig. 1 and 2, the anti-collision protector includes a docking sleeve 2, an end cap 12, a base 14, and a docking hole 15.

In this embodiment, the left end is defined as the end provided with the gun neck assembly 1, the right end is defined as the end provided with the welding gun cable 17, and the left-right direction is only defined for more clearly illustrating the present invention, and is not a substantial limitation to the present invention.

As shown in fig. 3, a welding gun cable 17 is sleeved on the left end of the docking sleeve 2 in an insulating manner, and the docking plate 3 is arranged on the right end of the docking sleeve 2; the end cover 12 is a circular plate-shaped structure, a through hole penetrates through the middle of the end cover, the aperture of the through hole is matched with the peripheral diameter of the butt joint sleeve 2, and the end cover 12 is sleeved on the butt joint sleeve 2 through the through hole and is magnetically connected with the butt joint disc 3 at the right end of the butt joint sleeve 2; be equipped with the butt joint subassembly between butt joint dish 3 and the end cover 12, the butt joint subassembly includes butt joint round pin 18 and butt joint hole 15, and butt joint round pin 18 sets up on the left surface of butt joint dish 3, and butt joint hole 15 sets up on end cover 12, and when butt joint dish 3 and end cover 12 both after the mutual contact under the magnetic action, butt joint round pin 18 just in is located butt joint hole 15 to guarantee both accurate butt joints. In this embodiment, the docking assemblies are uniformly spaced in two groups in the circumferential direction, and in other embodiments, other numbers of groups may be provided.

As shown in fig. 2 and 4, the left end of the docking pin 18 is provided with a transition portion, in order to ensure that the docking process of the docking tray 3 and the end cap 12 is more convenient and the accuracy of integration after docking is higher, in this embodiment, the transition portion includes a tapered guide section 181 and a positioning section 180, the taper cone angle of the guide section 181 is α 1, α 1 is preferably 30 ° or more and α 1 or less and 120 or less, the taper cone angle of the positioning section 180 is α 2, α 2 is preferably 0.5 ° or more and α 2 or less and 60 or less, the smaller the taper of α 2 is, the higher the accuracy of positioning is, and when the taper is infinitely close to 0 °, the cylindrical pin hole matching relationship can be understood. The docking hole 15 also has a taper which is always consistent with the taper of α 2 to ensure that the radial play between the docking tray 3 and the end cap 12 is 0 at the final full docking. The number of the guide sections 181 is not limited to one, and a plurality of guide sections 181 with different tapers may be provided to stabilize the docking process between the docking pin 18 and the docking hole 15.

The base 14 is located the right-hand member of docking tray 3, is equipped with on it and dodges the cavity, dodges the cavity and is equipped with the round hole that supplies welder cable 17 to pass in the left end opening of base 14, its right-hand member, and the round hole communicates with each other with dodging the cavity, dodges the cavity and is cylindrical cavity, and its radial dimension is greater than the radial dimension of round hole. Namely, the whole base 14 is penetrated by the avoiding cavity and the round hole; the outer contour of the base 14 is cylindrical; the left side annular surface of the base 14 is provided with a threaded hole, the end cover 12 is fixed on the left side surface of the base 14 through a screw 10, and meanwhile, the butt joint disc 3 on the butt joint sleeve 2 is positioned in the avoidance cavity.

A step-shaped annular groove is concentrically arranged with the round hole on the inner wall of the avoidance cavity at the joint of the avoidance cavity and the round hole; a spring 13 is arranged between the inner end cover 12 of the avoidance cavity and the right side surface of the avoidance cavity, as shown in fig. 5, two ends of the spring 13 are provided with clamping joints 130 parallel to the axis of the spring 13, the left end of the spring 13 is clamped in a preset circular groove on the end cover 12, and meanwhile, the opposite clamping joints 130 are positioned in first clamping holes arranged on the end cover 12; the right end of the spring 13 is clamped in the annular groove on the inner wall of the right side of the avoiding cavity, and meanwhile, the opposite clamping joint 130 is clamped in the second clamping hole formed in the opposite clamping joint. Because the joint 130 has been set up at the both ends of spring 13, spring 13 can not take place to rotate in the inside of dodging the cavity, also can say that, relative rotation between the inner wall of butt joint dish 3 and dodge the cavity can receive the hindrance of spring 13, when the butt joint dish 3 that the collision leads to has the rotation deviation, can be at joint 130 and first joint hole, under the mating reaction in second joint hole, make butt joint dish 3 eliminate the rotation deviation under spring 13's effect, butt joint precision between butt joint dish 3 and the end cover 12 when guaranteeing the reconversion, thereby guarantee that the position after resumeing is identical with the position before the collision completely, guarantee follow-up welded precision. The spring 13 here has the function of a torsion spring.

In this embodiment, besides the telescopic action of the spring 13 itself and the action of the torsion spring provided with the butt joint, the spring 13 is also used for restoring the capability of the spring 13 in the natural state under the bending state, specifically, after the joint 130 is respectively clamped in the first clamping hole and the second clamping hole, the two ends of the joint extending out of the joint are attached to the right side surface of the butt joint disk 3 and the left side surface of the avoiding cavity, when the butt joint disk 3 has radial deviation, the butt joint disk 3 tends to eliminate the deviation under the attaching and abutting action of the spring 13, so that the rotation error of the butt joint disk 3 or the radial deviation can be eliminated by limiting the spring 13 in the technical scheme.

The left end of the gun neck assembly 1 is provided with a welding gun for directly welding a workpiece, the right end of the gun neck assembly is communicated with a welding gun cable 17, the outside of the welding gun cable 17 is wrapped with an insulated sleeve 16, and the welding gun cable 17 is communicated with the sleeve 16 and sequentially passes through the butt joint sleeve 2, the butt joint disc 3, the avoidance cavity and the round hole rightwards, and then is connected with a corresponding wire feeder.

As shown in fig. 2, a push switch 9 is arranged on the docking tray 3 in a penetrating manner, a control line 8 of the push switch 9 is located on the left side of the docking tray 3, a threading groove 7 is formed in the docking sleeve 2, the control line 8 penetrates through the threading groove 7 to be converged with a welding gun cable 17, is located in the sleeve 16 together, but is not communicated with the welding gun cable 17, and is finally in control connection with the robot welding control system. When the end cover 12 and the butt joint disc 3 are attached to each other, the right side surface of the end cover 12 presses the press switch 9, and the state is normal; when the butt joint plate 3 and the end cover 12 are not attached to each other, namely the gun neck assembly 1 collides, the press switch 9 pops up, the robot welding control system receives a signal and immediately sends an instruction to control the corresponding welding action to stop so as to avoid causing more serious operation accidents.

In the embodiment, the butt joint plate 3 and the end cover 12 are made of magnetic materials; a plurality of permanent magnets 11 are uniformly arranged on the butt joint disk 3 at intervals in the circumferential direction.

As shown in fig. 2 and 3, the docking sleeve 2 includes an insulating sleeve 6, the insulating sleeve 6 is sleeved inside the left end of the docking sleeve 2, and is adhered by using an insulating adhesive, or is screwed inside the left end of the docking sleeve 2 by a thread, and in this embodiment, a thread and insulating adhesive mode is preferred for connection. A key groove 50 connected with a welding gun cable 17 is formed in the insulating sleeve 6, a connector connected with the gun neck assembly 1 is arranged at the left end of the welding gun cable 17, the connector sequentially penetrates through a round hole in the base 14, an avoiding cavity and a through hole in the butt joint disc 3, is clamped in the butt joint sleeve 2 and extends out of the butt joint sleeve 2 for a distance, a connecting key 5 matched with the key groove 50 is arranged on a section, located inside the butt joint sleeve 2, of the connector, and the connecting key 5 is a double-head circular key in the embodiment; the arrangement of the connecting key 5 and the key way 50 prevents relative rotation between the docking sleeve 2 and the torch cable 17. Be equipped with the screw thread on the connector is located one section of butt joint sleeve 2 outside, through adding to establish lock nut 101 and gasket 4 firmly fix welder cable 17 on butt joint sleeve 2, the left end that is equipped with the part of screw thread on the connector is equipped with the rifle neck seat, rifle neck assembly 1 can overlap and establish in the rifle neck seat, the outside cover of rifle neck seat is equipped with rifle neck and presss from both sides 100, rifle neck presss from both sides 100 and locks through the screw, rifle neck seat and rifle neck press from both sides 100 can be in the same place rifle neck assembly 1 and connector are fixed. In other embodiments, the key connected to the key slot 50 may be a flat key, a spline or other connecting key 5 with the same function, and the corresponding key slot 50 corresponds to the same; besides, a clamping groove can be formed in the insulating sleeve 6, and a corresponding clamping connector is arranged on the connecting head, so that the rotation stopping matching of the insulating sleeve 6 and the connecting head is realized.

The abutting sleeve 2 is also provided with a dustproof sleeve 19, so that dust and other impurities can be prevented from entering the anti-collision protector.

The working principle is as follows: the gun neck assembly 1 normally performs a welding process under program control, when an emergency situation causes the gun neck assembly 1 to collide with a workpiece or other components such as a clamping tool and a support frame, impact force generated between the gun neck assembly 1 and the workpiece instantly causes the butt joint disc 3 on the butt joint sleeve 2 to break away from the constraint of magnetic force, the butt joint disc is separated from the end cover 12 to move rightwards, the spring 13 is compressed, at the moment, the butt joint pin 18 is not matched with the butt joint hole 15 any more, the press switch 9 is released, a signal is sent, and the control system immediately controls the corresponding welding action to stop. After collision, the impact force disappears, the elastic potential energy of the spring 13 begins to be converted into the stretching kinetic energy, the butt joint disc moves leftwards to restore the original state under the combined action of the elastic force and the magnetic force, it is worth mentioning that if the butt joint disc 3 separated from the butt joint hole 15 generates certain offset in the radial direction, the spring 13 converts the acting force generated by the offset into the potential energy of the spring itself, and the potential energy (the potential energy generated by bending) on the spring 13 is converted into the kinetic energy driving the butt joint disc 3 to eliminate the radial offset along with the disappearance of the impact force; if the butt joint disk 3 rotates, the rotation deviation of the butt joint disk 3 can be eliminated under the action of the clamping joint 130 on the spring 13, the first clamping joint and the second clamping joint; firstly, under the guiding action of the guide section 181 on the docking pin 18, the docking pin 18 is docked into the docking hole 15 in a proper manner, and finally, the positioning section 180 is used for positioning and recovering the state of previous attachment, the press switch 9 is pressed again, the robot welding control system controls the corresponding welding action to restart, and normal operation is continued, so that mechanical damage to the gun neck assembly 1 in the collision process is effectively prevented.

Example 2

This embodiment differs from embodiment 1 in that the docking pin is located on the end cap and faces the docking tray, and the docking hole is located on the docking tray.

The rest is the same.

Example 3

The difference between this embodiment and embodiment 1 is that the transition portion is a tapered portion formed by an arc-shaped or parabolic bus bar, and the cross-sectional area increases in order from the end of the butt joint pin that is butted to the other end, and the taper of the butt joint hole fits with each other.

The rest is the same.

Example 4

The difference between this embodiment and embodiment 1 lies in that the rotation stopping fit between the insulating sleeve and the connector is no longer realized by the key slot, but the inner wall of the insulating sleeve is provided with a rotation stopping plane, and correspondingly, the connector is also provided with a rotation stopping plane.

The rest is the same.

Example 5

The difference between this embodiment and embodiment 1 is that the rotation-stopping fit between the insulating sleeve and the connector is no longer realized by a key slot, but the portion of the connector that is fitted with the insulating sleeve is configured to be a polygonal or quincunx structure similar to a nut, and the inside of the corresponding insulating sleeve is configured to be a polygonal or quincunx hole structure fitted with the insulating sleeve, so as to realize the rotation-stopping fit between the insulating sleeve and the connector.

The rest is the same.

The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.

Claims

1. Anticollision protector, its characterized in that: the butt joint device comprises a butt joint sleeve, an end cover, a butt joint assembly and a base;

2. The collision avoidance protector of claim 1, wherein: the end cover is provided with a butt joint pin; and the butt joint disc is provided with a butt joint hole.

3. The collision avoidance protector of claim 1, wherein: the end cover is provided with a butt joint hole; and the butt joint disc is provided with a butt joint pin.

4. The collision avoidance protector of claim 1, wherein: the transition part comprises a conical guide section and a positioning section; the cone angle of the guide section is alpha 1, and alpha 1 is more than or equal to 30 degrees and less than or equal to 120 degrees; the cone angle of the positioning section is alpha 2, and alpha 2 is more than or equal to 0.5 degrees and less than or equal to 60 degrees;

more than one guide section is arranged;

5. The collision avoidance protector of claim 1, wherein: the transition portion is a conical portion, and a generatrix of the conical portion is arc-shaped.

6. The collision avoidance protector of claim 1, wherein: at least one of the butt joint disc and the end cover is made of magnetic conductive materials, and the other one is circumferentially provided with a magnet.

7. The collision avoidance protector of claim 1, wherein: the docking sleeve comprises an insulating sleeve; the insulation sleeve is provided with a key groove, the welding gun cable is provided with a connector, and the connector is provided with a connecting key matched with the key groove.

8. The collision avoidance protector of claim 1, wherein: a press switch is arranged between the end cover and the butt joint disc; and the press switch is in signal connection with the control signal of the robot welding control system.

9. The collision avoidance protector of claim 1, wherein: clamping joints are arranged at two ends of the spring in a manner of being vertical to the axial direction of the spring; a first clamping hole is formed in the butt joint disc; a second clamping hole is formed in the inner wall of the avoiding cavity; the first clamping joint and the second clamping joint correspond to the clamping joints at two ends of the clamping spring respectively.

10. The collision avoidance protector of claim 1, wherein: and a sleeve is wrapped outside the welding gun cable.