CN201239862Y - Groove welding robot fixture - Google Patents
Groove welding robot fixture Download PDFInfo
- Publication number
- CN201239862Y CN201239862Y CNU2008200590456U CN200820059045U CN201239862Y CN 201239862 Y CN201239862 Y CN 201239862Y CN U2008200590456 U CNU2008200590456 U CN U2008200590456U CN 200820059045 U CN200820059045 U CN 200820059045U CN 201239862 Y CN201239862 Y CN 201239862Y
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- Prior art keywords
- sleeve
- inner sleeve
- support ring
- middle sleeve
- clamp
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- Expired - Lifetime
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Abstract
The utility model relates to a clamp for a bevel welding cutting manipulator. The hand clamp is formed by connecting an outer sleeve and a semicircular clamp sheet open-close device, and the outer sleeve comprises two semicircular clamps. A middle sleeve is arranged inside the outer sleeve and clamped by the outer sleeve, a ball or a bearing is arranged between the inner layer and the outer layer of the middle sleeve to form a rotation mechanism, an inner sleeve is arranged inside the middle sleeve and used for clamping a welding-cutting gun, and the middle sleeve and the inner sleeve are combined together by a cylinder and a spring through the respectively support rings. After collision, the welding-cutting torch (the inner sleeve) is inclined in the middle sleeve, so as to trigger a collision avoidance sensor on the inner sleeve and then stop the manipulator. When the initial height is adjusted, the contraction cylinder of the inner sleeve and the middle sleeve is loosened, and the collision avoidance sensor on the inner sleeve can be used for detecting the initial height of the gun tip. Rotation, collision avoidance and initial height adjustment are combined into one clamp, the collision avoidance and the initial height detection are combined into a whole, the complexity of path processing in the corresponding control system is greatly reduced, and the clamp can be conveniently controlled through the general numerical control equipment.
Description
Technical field:
The utility model relates to mechanical field, relates in particular to groove welding and cuts mechanical hand, particularly a kind of bevel welding-cutting mechanical hand clamp.
Background technology:
In the prior art, simple stationary fixture is made with the anchor clamps of solder cutting gun body by groove welding cutting mill device hand manufacturer, realizes unlimited revolution, the collision prevention of solder cutting gun body respectively and initially heightens by mechanism independently again.Realize revolution as Messer company and Esab company by the rotary joint of the whole mechanism of mechanical hand, Koike company and Farley Laserlab company realize unlimited revolution by the top clear space of double pendulum angle mechanism.The principle of the collision prevention mechanism that above-mentioned manufacturer adopts is roughly the same, all is the inclination of generation when adopting 2-4 elastic mechanism to cushion and detect the solder cutting gun body to be bumped against.The technology of initially heightening that above-mentioned manufacturer adopts is after adopting contact or noncontacting proximity sensor location, and the height of the whole mechanism of mechanical hand is adjusted with motor.Because solder cutting gun body itself adopts stationary fixture, therefore can't regulate elemental height.When adopting the whole mechanism of mechanical hand to regulate height, the centre of gyration of groove welding is skew thereupon also, must adopt corresponding backoff algorithm in numerical control.It is complicated that feasible control becomes, and some complicated welding path also may occur can not expected results.And present most of universal numerical control equipment is not all supported this backoff algorithm.The unlimited slew gear complexity of solder cutting gun body, stability and maintainability are not high.The revolution of rifle body, collision prevention and initial height-regulating mechanism are independent separately in the prior art, loosely organized huge, pin down mutually, dismounting is difficult in maintenance.
The utility model content:
The purpose of this utility model is to provide a kind of bevel welding-cutting mechanical hand clamp, it is independent separately that described this bevel welding-cutting mechanical hand clamp will solve the revolution of rifle body, collision prevention and the initial height-regulating mechanism of groove welding-cutting machine device hand in the prior art, loosely organized huge, pin down the technical problem that dismounting is difficult in maintenance mutually.
This bevel welding-cutting mechanical hand clamp of the present utility model is made of an outer sleeve and semicircular clamp sheet open and close device, described outer sleeve is made of the biplate semicircular clamp, described biplate semicircular clamp is connected with the semicircular clamp sheet open and close device, it is characterized in that: be provided with a middle sleeve in the described outer sleeve, described middle sleeve is cylindrical tube shape, described middle sleeve is made of internal layer middle cylinder body and an outer middle cylinder body fit, be provided with accurate ball or bearing between described internal layer middle cylinder body and the outer middle cylinder body, in, outer middle cylinder body relatively rotates the composition free-wheeling system, the upper end of middle sleeve outer wall is provided with a buffering ring, be used as spacing firmly that middle sleeve glides in outer sleeve, the diameter of described buffering ring is greater than the internal diameter of outer sleeve, buffering ring is positioned at the top of outer sleeve, the upper end of middle sleeve inwall is provided with a support ring, the internal diameter of described support ring is less than the internal diameter of middle sleeve, external diameter greater than inner sleeve, support ring is positioned at the top of middle sleeve internal layer, be provided with an inner sleeve in the middle sleeve, the two ends of described inner sleeve are respectively arranged with tapered thread, be respectively arranged with cross recess on the screw thread mouth at cylindrical shell two ends, be respectively arranged with rifle body Joining clasp in the two ends of inner sleeve, the upper end of described inner sleeve outer wall is provided with a support ring, there is the oblique angle at the ring body edge, inner sleeve support ring external diameter and middle sleeve inwall are slidingly matched, and superimposed up and down with the support ring of middle sleeve, inner sleeve support ring surface equally distributed little cylinder of upper edge circumference and spring tighten up middle sleeve support ring and the inner sleeve support ring that is superimposed together.Middle cylinder body support ring internal diameter makes and tilts when the rifle body bumps that the sensor that inner sleeve support ring body upper surface along the circumferential direction evenly is embedded with two above numbers is used to detect the rifle head tilt in middle sleeve greater than the inner sleeve external diameter.
Further, described bevel welding-cutting mechanical hand clamp is characterized in that: the inner wall surface of inner barrel is provided with synchronous silk or the polymeric retention aid cunning is filmed or silk and polymeric retention aid cunning are filmed synchronously.There is out cross recessed tapered thread at the inner sleeve two ends.
Further, described bevel welding-cutting mechanical hand clamp is characterized in that: described outer sleeve folding makes middle sleeve slide up and down in outer sleeve.
Further, described bevel welding-cutting mechanical hand clamp is characterized in that: described middle sleeve has accurate free-wheeling system body.Middle sleeve has the hard stopping means of downslide.
Further, described bevel welding-cutting mechanical hand clamp is characterized in that: middle sleeve with the support ring body of inner sleeve by separately utilize cylinder/spring superimposed with one heart in.Inner sleeve support ring external diameter cooperates with the middle sleeve inwall.
Further, described bevel welding-cutting mechanical hand clamp is characterized in that: described sensor is pressure sensor, torque sensor or position sensor.Sensor evenly is installed on the inner sleeve support ring circumference.
Operation principle of the present utility model is: inner sleeve is used to clamp the solder cutting gun body, and the collision of butt welding cutting torch detects, after the rifle body is produced by the external force collision, the inner sleeve support ring tilt with the rifle body and and produce the slit between the middle sleeve support ring, sensor on the inner sleeve support ring is made a response to any direction of rifle body or the inclination of angle, make the mechanical hand stop motion, prevent that collision from causing mechanical hand to damage.After collision was removed, inner sleeve resetted under its support ring casing top half and spring action, made the rifle body automatically recover vertical, and was that the rifle body is concentric with whole anchor clamps maintenance by making inner sleeve support ring and cooperating of middle sleeve inwall the inner sleeve after resetting.When the synchronous silk of inner sleeve inwall or polymeric retention aid synovial membrane can prevent that the rifle body from inserting the inner sleeve inwall because mismate produces difficulty; The taper screw socket at inner barrel two ends, upper strata can be used for regulating the beat amplitude, and the rifle body beat that the gap of assurance revolution and clamping causes is no more than franchise.Ball in the middle sleeve constitutes free-wheeling system, and when mechanical hand rotated, rifle body cable and outside elastic force screwed pipe thereof produced a torsion, freely turns round in middle sleeve together with inner sleeve thereby drive the rifle body; Middle sleeve is used to hold inner layer sleeve and rifle body.Outer sleeve is used to hold middle sleeve, outer sleeve is controlled by an anchor clamps open and close device, when the anchor clamps open and close device unclamps, middle sleeve and rifle body can slide up and down in outer sleeve, the rifle body is free floating state up and down, mechanical hand utilizes the position of adjusting clamping rifle body of touching of rifle point and workpiece, and different rifle body clip positions causes different rifle point positions, thereby realizes the different elemental heights of rifle body.In case after adjusting rifle body elemental height, the anchor clamps open and close device clamps the rifle body again, mechanical hand is got back to its original groove work centre.Concrete, outer sleeve, middle sleeve and inner sleeve can adopt aluminum alloy materials casting and accurate machined of later stage to obtain.The snap ring at inner sleeve two ends can prevent play between rifle body and the inner sleeve, and the inner sleeve two ends have out cross recessed tapered thread to be used to regulate the gap and the beat of the clamping of rifle body; The elasticity of inner barrel support ring and middle sleeve support ring constitutes collision prevention mechanism, inner sleeve is that the welding torch is subjected to clashing into the back generation gap that is connected with the elasticity of middle sleeve support ring, thereby the sensor on the triggering inner sleeve support ring is realized collision prevention by the mechanical hand stop motion.Movable fit structure between inner sleeve support ring and the middle sleeve inwall can guarantee the concentricity of inner sleeve and middle sleeve; Cylinder on the inner sleeve support ring and spring guarantee that also removing rear lance (inner sleeve) in collision prevention automatically resets.When elemental height detected, in case the rifle point touches steel plate inner sleeve support ring promptly by jack-up, as long as throw off being had any sensor to detect between supporter by jack-up moment, controller was the opening entry current location, and calculates elemental height as benchmark.Tightening up cylinder and spring and can regulate the superimposed pressure of support ring up and down between inner sleeve support ring and middle sleeve support ring, to change the anti-impact strength of collision prevention mechanism, when doing the elemental height adjusting, controller unclamps cylinder, so that the rifle body floats, the rifle point can not thumped surface of the work and be damaged.The buffering ring of middle sleeve outside wall portions upper end is used for doing lower limit when initially heightening.When sliding into its buffering ring under the outer sleeve that middle sleeve is being used for initially heightening and run into the outer sleeve edge, middle sleeve no longer continues to glide.
The utility model and prior art compare, and its effect is actively with tangible.The utility model is provided with middle sleeve and inner sleeve with one heart between biplate semicircular clamp and groove welding burning torch body, with complicated traditionally revolution, collision prevention with initially heighten structure and organically combine, complex optimum has been simplified unitary construction, improve stability, made things convenient for maintenance.The complexity that handle in the path in the corresponding control system also has bigger reduction simultaneously, and general universal numerical control equipment can conveniently be controlled this kind mechanical hand.
Description of drawings:
Fig. 1 is the structural representation of bevel welding-cutting mechanical hand clamp of the present utility model.
Fig. 2 is the axial section structural representation of the inner sleeve in the bevel welding-cutting mechanical hand clamp of the present utility model.
Fig. 3 is the axial section structural representation of the middle cylinder body in the bevel welding-cutting mechanical hand clamp of the present utility model.
Fig. 4 is the radial section structural representation of the outer cylinder body in the bevel welding-cutting mechanical hand clamp of the present utility model.
Fig. 5 be among Fig. 4 A-A to generalized section.
Fig. 6 is the axial section structural representation of the outer cylinder body in the bevel welding-cutting mechanical hand clamp of the present utility model.
The specific embodiment:
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6, bevel welding-cutting mechanical hand clamp of the present invention is made of an outer sleeve 1 and semicircular clamp sheet open and close device 4, described outer sleeve 1 is made of the biplate semicircular clamp, described biplate semicircular clamp is connected with semicircular clamp sheet open and close device 4, wherein, be provided with a middle sleeve 2 in the described outer sleeve 1, described middle sleeve 2 is cylindrical tube shape, along the circumferential direction be provided with outstanding support ring 10 in the inwall of middle sleeve 2, support ring 10 is concentric superimposed with the support ring 9 of inner sleeve, tighten up by cylinder and spring 5, the upper end of middle sleeve 2 outer walls is provided with a buffering ring 8, the diameter of described buffering ring 8 is greater than the internal diameter of outer sleeve 1, buffering ring 8 is positioned at the top of outer sleeve 1, described middle sleeve 2 constitutes free-wheeling system by an internal layer cylinder and an outer layer barrel fit, be provided with bearing or ball 6 between described internal layer cylinder and the outer layer barrel, be provided with an inner sleeve 3 in the middle sleeve 2, the two ends of inner sleeve are respectively arranged with tapered thread, be respectively arranged with cross recess on the screw thread mouth at inner sleeve two ends, be respectively arranged with rifle body Joining clasp in the two ends of inner sleeve, along the circumferential direction be provided with an outer outstanding support ring 9 on the upper end outer wall of inner sleeve body 3, the edge of described support ring 9 is provided with the oblique angle, support ring 9 be located in one heart middle sleeve support ring 10 above, tightened up by one group of cylinder and spring 5 between support ring 9 and the support ring 10 and form elastic parts, described spring 5 is evenly distributed on the circumference of support ring 9 upper surfaces.
Further, the inner wall surface of described inner sleeve 3 is provided with synchronous silk or the polymeric retention aid cunning is filmed or silk and polymeric retention aid cunning are filmed synchronously.
Further, described outer sleeve 1 makes middle sleeve 2 slide up and down in outer sleeve 1 by controller control open and close device 4.
Further, described middle sleeve 2 has accurate free-wheeling system body.Middle sleeve has the hard stopping means 8 of downslide.
Further, adopt movable fit structure between the inwall of described inner sleeve support ring 9 and middle sleeve 2.
Further, described middle sleeve 2 with the support ring 9 and 10 of inner sleeve 3 by separately utilize cylinder 5 elasticity superimposed with one heart in.
Further, described sensor 7 is pressure sensor, torque sensor or position sensor.Sensor evenly is installed on the inner sleeve support ring 9.
In an embodiment of the present utility model, inner sleeve 3 is clamped solder cutting gun body 12, and the ball 6 in the middle sleeve 2 constitutes free-wheeling system, when mechanical hand rotates, rifle body cable and outside elastic force screwed pipe thereof produce a torsion, freely turn round in inner sleeve 3 thereby drive rifle body 12; The synchronous silk of inner sleeve 3 inwalls or polymeric retention aid synovial membrane can guarantee rifle body 12 rotating flexibility in groove angle working range arbitrarily, and when preventing that the rifle body from inserting inner sleeve 3 inwalls because mismate produces difficulty; The taper screw socket 11 at inner sleeve 3 two ends can be used for regulating the beat amplitude, and the rifle body beat that the gap of assurance revolution and clamping causes is no more than franchise.Middle sleeve 2 is used to hold inner sleeve and rifle body, after rifle body 12 is produced by the external force collision, the 7 pairs of inner sleeves 3 of sensor on the inner sleeve support ring 9 and any direction of rifle body 12 or the inclination of angle are made a response, and make the mechanical hand stop motion, prevent that collision from causing mechanical hand to damage.After collision was removed, cylinder on the support ring 9 and spring 5 resetted support ring 9, and be smooth again concentric superimposed with support ring 10, makes rifle body 10 recover vertical automatically, and keep concentric with whole anchor clamps.Outer sleeve 1 is used to hold middle sleeve 2, outer sleeve 1 is by 4 controls of an anchor clamps open and close device, when the anchor clamps open and close device unclamps, middle sleeve 2, inner sleeve 3 and rifle body 12 can be in outer sleeve 1 lower slider on the whole, rifle body 12 is free floating state up and down, mechanical hand utilizes the position of adjusting clamping rifle body of touching of rifle point and workpiece, and different rifle body clip positions causes different rifle point positions, thereby realizes the different elemental heights of rifle body.In case after adjusting rifle body elemental height, anchor clamps open and close device 4 clamps the rifle body again, mechanical hand is got back to its original groove work centre.Concrete, inner sleeve 3 and middle sleeve 2 can adopt aluminum alloy materials casting and accurate machined of later stage to obtain.Inner sleeve 3 direct suits are fixed on the solder cutting gun body 12, and little gradient heavy caliber tapered thread is adopted at the two ends of inner sleeve, and screw thread mouth is opened cross recess, tighten up to eliminate the gap by tapered cup nut, can prevent to produce when inner sleeve body and rifle body suit are fixedly the gap; The snap ring at inner sleeve two ends can prevent rifle body play in inner sleeve 3; The collision prevention mechanism that middle sleeve support ring 10 and inner sleeve support ring 9 constitute between inner sleeve 3 and the middle sleeve 2, inner sleeve 3 is subjected to clashing into the back and produces certain inclination in middle sleeve 2, thereby being connected with the elasticity of support ring 10, support ring 9 produces the slit, trigger the sensor 7 on the support ring 9, allow the mechanical hand stop motion, realize collision prevention.Movable fit structure between support ring 9 and middle sleeve 2 inwalls can guarantee the concentricity of inner sleeve 3 and middle sleeve 2; Cylinder on the support ring 9 and spring 5 guarantee that also removing rear lance 12 (inner sleeve 3) in collision prevention automatically resets.Whether the sensor 7 on the support ring 9 is used to detect support ring 9 and throws off with support ring 10, throws off in case there is any sensor to detect between ring body, and rifle body 12 (inner sleeve 3) run-off the straight is described, promptly rifle body 12 is collided.9,10 clamping forces of support ring can be by regulating cylinder and spring 5 pressure, to change the anti-impact strength of collision prevention mechanism.The buffering ring 8 of middle sleeve 2 outside wall portions upper end is used for doing lower limit when initially heightening.When middle sleeve 2 when the outer sleeve that is used for initially heightening slides into its buffering ring for 1 time and runs into outer sleeve 1 edge, middle sleeve 2 no longer continues to glide.
Claims (5)
1. bevel welding-cutting mechanical hand clamp, constitute by an outer sleeve and semicircular clamp sheet open and close device, described outer sleeve is made of the biplate semicircular clamp, described biplate semicircular clamp is connected with the semicircular clamp sheet open and close device, it is characterized in that: be provided with a middle sleeve in the described outer sleeve, described middle sleeve is cylindrical tube shape, described middle sleeve is made of internal layer middle cylinder body and an outer middle cylinder body fit, be provided with accurate ball or bearing between described internal layer middle cylinder body and the outer middle cylinder body, the internal layer middle cylinder body, outer middle cylinder body constitutes free-wheeling system, the upper end of middle sleeve outer wall is provided with a buffering ring, the diameter of described buffering ring is greater than the internal diameter of outer sleeve, buffering ring is positioned at the top of outer sleeve, the upper end of middle sleeve inwall is provided with a support ring, the internal diameter of described support ring is less than the internal diameter of middle sleeve and greater than the external diameter of inner sleeve, support ring is positioned at the top of middle sleeve internal layer, be provided with an inner sleeve in the middle sleeve, the two ends of described inner sleeve are respectively arranged with tapered thread, be respectively arranged with cross recess on the screw thread mouth at cylindrical shell two ends, be respectively arranged with rifle body Joining clasp in the two ends of inner sleeve, the upper end of described inner sleeve outer wall is provided with a support ring, there is the oblique angle at the ring body edge, inner sleeve support ring external diameter and middle sleeve inwall are slidingly matched, and it is concentric up and down superimposed with the support ring of middle sleeve, upper edge, inner sleeve support ring surface circumference is evenly distributed with little cylinder and spring, described little cylinder and spring tighten up middle sleeve support ring and inner sleeve support ring and are superimposed together, middle cylinder body support ring internal diameter is greater than the inner sleeve external diameter, and inner sleeve supports the sensor that the ring body upper surface along the circumferential direction evenly is embedded with two above numbers.
2. bevel welding-cutting mechanical hand clamp as claimed in claim 1, it is characterized in that: the inner wall surface of described inner barrel is provided with synchronous silk or the polymeric retention aid cunning is filmed or synchronously silk and polymeric retention aid cunning film, there is out cross recessed tapered thread at the inner sleeve two ends.
3. bevel welding-cutting mechanical hand clamp as claimed in claim 1 is characterized in that: described middle sleeve has accurate free-wheeling system body, and middle sleeve has the hard stopping means of downslide.
4. bevel welding-cutting mechanical hand clamp as claimed in claim 1 is characterized in that: middle sleeve with the support ring body of inner sleeve by separately utilize cylinder and spring superimposed in, inner sleeve support ring external diameter cooperates with the middle sleeve inwall.
5. bevel welding-cutting mechanical hand clamp as claimed in claim 1 is characterized in that: described sensor is pressure sensor, torque sensor or position sensor, and sensor evenly is installed on the inner sleeve support ring circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200590456U CN201239862Y (en) | 2008-05-28 | 2008-05-28 | Groove welding robot fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200590456U CN201239862Y (en) | 2008-05-28 | 2008-05-28 | Groove welding robot fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201239862Y true CN201239862Y (en) | 2009-05-20 |
Family
ID=40713152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200590456U Expired - Lifetime CN201239862Y (en) | 2008-05-28 | 2008-05-28 | Groove welding robot fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201239862Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590575B (en) * | 2008-05-28 | 2013-08-14 | 如冈自动化控制技术(上海)有限公司 | Bevel welding-cutting mechanical hand clamp |
| CN103286774A (en) * | 2012-03-02 | 2013-09-11 | 史陶比尔法万举 | Articulated structure for a multi-axis robot and robot with such a structure |
| CN104180835A (en) * | 2013-05-24 | 2014-12-03 | 阿尔斯通技术有限公司 | Sensor mounting attachment |
-
2008
- 2008-05-28 CN CNU2008200590456U patent/CN201239862Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590575B (en) * | 2008-05-28 | 2013-08-14 | 如冈自动化控制技术(上海)有限公司 | Bevel welding-cutting mechanical hand clamp |
| CN103286774A (en) * | 2012-03-02 | 2013-09-11 | 史陶比尔法万举 | Articulated structure for a multi-axis robot and robot with such a structure |
| CN103286774B (en) * | 2012-03-02 | 2016-08-24 | 史陶比尔法万举 | The radial type structure of multi-spindle machining hands and include the mechanical hand of this structure |
| CN104180835A (en) * | 2013-05-24 | 2014-12-03 | 阿尔斯通技术有限公司 | Sensor mounting attachment |
| CN104180835B (en) * | 2013-05-24 | 2017-01-04 | 通用电器技术有限公司 | Adnexa installed by sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20090520 Effective date of abandoning: 20080528 |
|
| RGAV | Abandon patent right to avoid regrant |