CN205200851U - Flexible grasping system is used in welding - Google Patents

Flexible grasping system is used in welding Download PDF

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Publication number
CN205200851U
CN205200851U CN201520975291.6U CN201520975291U CN205200851U CN 205200851 U CN205200851 U CN 205200851U CN 201520975291 U CN201520975291 U CN 201520975291U CN 205200851 U CN205200851 U CN 205200851U
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CN
China
Prior art keywords
robot
foundry goods
welding
frock
handgrip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201520975291.6U
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Chinese (zh)
Inventor
庄云恩
曾昭贤
龙小军
程齐军
黄钊雄
王勇军
周俊
严博文
董世忠
甘超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changsha Chaint Robotics Co Ltd
Original Assignee
Changsha Chaint Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Chaint Robotics Co Ltd filed Critical Changsha Chaint Robotics Co Ltd
Priority to CN201520975291.6U priority Critical patent/CN205200851U/en
Application granted granted Critical
Publication of CN205200851U publication Critical patent/CN205200851U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a flexible grasping system is used in welding, include: first robot for the discernment foundry goods shifts the foundry goods to the workstation from the material loading platform, the manipulator end of first robot is equipped with the anchor clamps support, is fixed with on the anchor clamps support to be used for absorbing inhaling the utensil and being used for discerning the kind of foundry goods and the image sensor of position of foundry goods, and image sensor links to each other with the controller of first robot, the periphery of anchor clamps support is equipped with and is used for the foundry goods location and compresses tightly to the tongs frock of workstation, the second robot for weld the foundry goods on the workstation. Through combining robot, image sensor and fixture attachment, utilize the repeated positioning accuracy of the manipulator of robot, realize the location and the transfer of foundry goods, and through inhale absorb the foundry goods and through the tongs frock with the foundry goods location and compress tightly to the workstation, overturned the mode of the fixed clamping of traditional anchor clamps, satisfied the automated production demand of different kinds, many dimensions, small batch volume like product.

Description

Flexible clamping system is used in welding
Technical field
The utility model relates to industrial robot field, especially, relates to a kind of industrial robot welding flexible clamping system.
Background technology
Single be pilot domestic is at present produced, generally do not carry out automated production, main cause is that product volume is few, an independent automatic production line or an Automation workstation produce be pilot, lness ratio of plant is high, for single products, allocated cost expense is no doubt just high.The be pilot that most enterprises is produced generally all can have different specification size, and workpiece has diverse location, the production of the like product of different attitude.For single product, automated production cost is high, and for the production of the like product of the multiple different size of compatibility, the utilization rate of automated production equipment can significantly improve, and production cost can obviously reduce, and this meets the basic premise of automated production.
Multiple types specification, small lot like product are produced at a production line or work station, and thing followed problem is exactly the adaptive problem of frock clamp.Traditional manual work mode is all generally a frock clamp, clamps a kind of workpiece product, after product category and change in size, generally all will change frock clamp.Especially high at some positioning accuracy requests, workpiece size and the many product of attitudes vibration, traditional stationary machine frock clamp generally needs artificial adjustment.This production model not only has complexity, huge clamp positioning mechanism, simultaneously also very high to the operation requirements of workman, and this traditional stationary machine fixture mode, be generally difficult to be applied in the production of automation.Therefore the flexible frock of adaptation multiple types specification, be pilot automated production just becomes the key issue of automated production, urgently to be resolved hurrily.
Utility model content
The utility model provides a kind of welding flexible clamping system, complicated and cannot meet the technical problem of automated production demand of multiple types specification, small lot like product to solve existing mechanical type Tool clamp structure.
The technical solution adopted in the utility model is as follows:
Flexible clamping system is used in a kind of welding, comprising:
First robot, for identifying foundry goods and foundry goods being transferred to workbench from feeding platform; The arm end of the first robot is provided with fixture mount, and fixture mount is fixed with suction tool for drawing foundry goods and the imageing sensor for the kind and position that identify foundry goods, imageing sensor is connected with the controller of the first robot;
The periphery of fixture mount is provided with for being located by foundry goods and being compacted to the handgrip frock of workbench;
Second robot, for welding foundry goods on the table.
Further, tool is fixed on fixture mount center through screw is inhaled.
Further, inhaling tool is round or square structure, and its center is provided with mounting flange face, and fixedly mounts with fixture mount center; Inhaling tool is magnetic suction disc or Pneumatic suction cup.
Further, imageing sensor is CCD camera, and imageing sensor is fixed in fixture mount and and suction tool interval through screw.
Further, the manipulator of the first robot is six axis robot, and the center end face of fixture mount is through the end face of Flange joint six axis robot.
Further, the periphery of fixture mount is provided with multiple external part, and the distal end faces normal direction of each external part installs handgrip frock.
Further, handgrip frock is pneumatic or electric structure, and handgrip finger horizontal stretches, and centering clamps; Point flexible plane at vertical handgrip and be provided with a hold-down mechanism in handgrip frock center, hold-down mechanism is pneumatic or electronic.
Further, the first robot is vertically fixedly connected with ground through foundation bolt.
Further, the second robot is fixed on the upper plane of base through screw; Base is vertically fixedly connected with ground through foundation bolt.
The utility model has following beneficial effect:
Flexible clamping system is used in the utility model welding, by robot, imageing sensor and clamp fixture are combined, utilize the repetitive positioning accuracy of the manipulator of robot, realize location and the transfer of foundry goods, and draw foundry goods by inhaling tool and through handgrip frock foundry goods located and be compacted to workbench, overturn the mode of the fixed clamping of conventional brace, meet the automated production demand of variety classes, many dimensions, small lot like product.
Except object described above, feature and advantage, the utility model also has other object, feature and advantage.Below with reference to figure, the utility model is described in further detail.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of the utility model preferred embodiment welding flexible clamping system.
Description of reference numerals:
10, the first robot; 11, manipulator;
20, fixture mount; 21, tool is inhaled; 22, imageing sensor; 23, handgrip frock;
30, the second robot; 31, base;
40, foundry goods;
50, feeding platform;
60, workbench.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the utility model in detail in conjunction with the embodiments.
Along with improving constantly of system integration technology, robot system and vision system and mechanical clamp can organically be combined into as a whole.Robot system and vision system can not only provide accurate location, can also realize the workpiece of different specification size simultaneously, perfectly be realized clamping, the location of workpiece by mechanical clamp, and the random combination of different size workpiece.The present embodiment welding flexible clamping system is at the fixed method of clamping of research tradition, exploitation on the basis that cannot adapt to multi items, small lot automated production, based on a kind of novel flexible frock of the combination of robot and vision.
The utility model preferred embodiment provides a kind of welding flexible clamping system, and with reference to Fig. 1, it comprises:
First robot 10, for identifying foundry goods 40 and foundry goods 40 being transferred to workbench 60 from feeding platform 50; Manipulator 11 end of the first robot 10 is provided with fixture mount 20, fixture mount 20 is fixed with suction tool 21 for drawing foundry goods 40 and the imageing sensor 22 for the kind that identifies foundry goods 40 and position, imageing sensor 22 is connected with the controller of the first robot 10;
The periphery of fixture mount 20 is provided with for being located by foundry goods 40 and being compacted to the handgrip frock 23 of workbench 60;
Second robot 30, for welding foundry goods 40 on workbench 60.
In the present embodiment, inhale tool 21 is fixed on fixture mount 20 center through screw.Imageing sensor 22 is CCD camera, and imageing sensor 22 is fixed in fixture mount 20 and and suction tool 21 interval through screw.On the detachable periphery being installed on fixture mount 20 of handgrip frock 23.Fixture mount 20 is connected to the end of manipulator.Thus ensure that the accuracy of Workpiece fixing by the repetitive positioning accuracy of the manipulator of robot, and improve processing operating efficiency.
Preferably, it is round or square structure that the present embodiment inhales tool 21, and its center is provided with mounting flange face, and fixedly mounts with fixture mount 20 center; Inhaling tool 21 is magnetic suction disc or Pneumatic suction cup.Preferably, imageing sensor 22 is CCD camera.
Preferably, the manipulator 11 of the present embodiment first robot 10 is six axis robot, and the center end face of fixture mount 20 is through the end face of Flange joint six axis robot.By adopting six axis robot, convenient Switch of working position in process.
Preferably, with reference to Fig. 1, the periphery of the present embodiment fixture mount 20 is provided with multiple external part, and the distal end faces normal direction of each external part installs handgrip frock 23.More preferably, handgrip frock 23 is pneumatic or electric structure, and handgrip finger horizontal stretches, and centering clamps; Point flexible plane at vertical handgrip and be provided with a hold-down mechanism in handgrip frock 23 center, hold-down mechanism is pneumatic or electronic.When foundry goods 40 is transferred to after workbench 60 from feeding platform 50 by suction tool 21 under the drive of manipulator 11, the handgrip finger of handgrip frock 23 positions foundry goods 40 and is compacted on the processing stations of workbench 60, the foundry goods 40 behind location so that the second robot 30 carries out weld job through hold-down mechanism.
In the present embodiment, the first robot 10 is vertically fixedly connected with ground through foundation bolt.Second robot 30 is fixed on the upper plane of base 31 through screw; Base 31 is vertically fixedly connected with ground through foundation bolt.
Operation principle below in conjunction with the present embodiment welding flexible clamping system is introduced its process:
Operation principle is set forth in welding with ironware in the present embodiment, in this way other material workpiece, and tool is inhaled in replacing or handgrip frock meets actual production requirement.Comprise the following steps:
S1, the first robot 10 move to the material loading position of the feeding platform 50 of workpiece, and identify kind, the position of workpiece through imageing sensor 22.
S2, inhale tool 21 and draw the first workpiece, through the first robot 10 by the first workpiece handling to the certain bits of workbench 60, and take pictures through imageing sensor 22 and identify the processing stations of workbench 60.
S3, the first robot 10 move to the second workpiece corresponding with the first workpiece welding processing and deposit position, and by visual identity, each station handgrip of handgrip frock 23 captures corresponding second workpiece;
Second workpiece is carried to processing stations by S4, the first robot 10, is well placed second workpiece with particular pose, the hold-down mechanism clamping second workpiece of handgrip frock 23.
First workpiece and second workpiece weld by S5, the second robot, and in welding process, the clamp system of handgrip frock 23 keeps clamped condition.
The six axis robot half-twist of S6, the first robot 10, fixture mount 20 changes a station, moves to the welding of next station.
Can learn from above description, the present embodiment is by combining robot, imageing sensor and clamp fixture, utilize the repetitive positioning accuracy of the manipulator of robot, realize location and the transfer of foundry goods, and draw foundry goods by inhaling tool and through handgrip frock foundry goods located and be compacted to workbench, overturn the mode of the fixed clamping of conventional brace, meet the automated production demand of variety classes, many dimensions, small lot like product.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.

Claims (9)

1. a flexible clamping system is used in welding, it is characterized in that, comprising:
First robot (10), for identifying foundry goods (40) and foundry goods (40) being transferred to workbench (60) from feeding platform (50); Manipulator (11) end of described first robot (10) is provided with fixture mount (20), described fixture mount (20) is fixed with suction tool (21) for drawing foundry goods (40) and the imageing sensor (22) for the kind that identifies foundry goods (40) and position, described imageing sensor (22) is connected with the controller of described first robot (10);
The periphery of described fixture mount (20) is provided with for being located by foundry goods (40) and being compacted to the handgrip frock (23) of described workbench (60);
Second robot (30), for welding foundry goods (40) on described workbench (60).
2. welding flexible clamping system according to claim 1, is characterized in that,
Described suction tool (21) is fixed on the center of described fixture mount (20) through screw.
3. welding flexible clamping system according to claim 2, is characterized in that,
Described suction tool (21) is round or square structure, and its center is provided with mounting flange face, and fixedly mounts with described fixture mount (20) center; Described suction tool (21) is magnetic suction disc or Pneumatic suction cup.
4. welding flexible clamping system according to claim 1, is characterized in that,
Described imageing sensor (22) is CCD camera, and described imageing sensor (22) is fixed in described fixture mount (20) and and described suction tool (21) interval through screw.
5. welding flexible clamping system according to claim 1, is characterized in that,
The manipulator (11) of described first robot (10) is six axis robot, and the center end face of described fixture mount (20) is through the end face of six axis robot described in Flange joint.
6. welding flexible clamping system according to claim 5, is characterized in that,
The periphery of described fixture mount (20) is provided with multiple external part, and the distal end faces normal direction of each external part installs described handgrip frock (23).
7. welding flexible clamping system according to claim 6, is characterized in that,
Described handgrip frock (23) is pneumatic or electric structure, and handgrip finger horizontal stretches, and centering clamps; Point flexible plane at vertical handgrip and be provided with a hold-down mechanism in described handgrip frock (23) center, hold-down mechanism is pneumatic or electronic.
8., according to the arbitrary described welding flexible clamping system of claim 1 to 7, it is characterized in that,
Described first robot (10) is vertically fixedly connected with ground through foundation bolt.
9., according to the arbitrary described welding flexible clamping system of claim 1 to 7, it is characterized in that,
Described second robot (30) is fixed on the upper plane of base (31) through screw; Described base (31) is vertically fixedly connected with ground through foundation bolt.
CN201520975291.6U 2015-12-01 2015-12-01 Flexible grasping system is used in welding Expired - Fee Related CN205200851U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201520975291.6U CN205200851U (en) 2015-12-01 2015-12-01 Flexible grasping system is used in welding

Publications (1)

Publication Number Publication Date
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105880894A (en) * 2016-06-08 2016-08-24 佛山市联智新创科技有限公司 Complete equipment of welding robot and welding jig
CN106514077A (en) * 2016-11-28 2017-03-22 苏州五圣通机器人自动化有限公司 High-precision robot automatic welding device special for grid plate and working method thereof
CN106584006A (en) * 2017-02-16 2017-04-26 珠海格力智能装备有限公司 Oil heater clamping device, oil heater taking and discharging robot and oil heater welding equipment
CN106695202A (en) * 2016-11-28 2017-05-24 苏州五圣通机器人自动化有限公司 Intelligent automatic welding system and operation method thereof for grid plate welding and operation method
CN110070792A (en) * 2019-04-28 2019-07-30 陈龙 Artificial Intelligence Laboratory
CN110394540A (en) * 2019-07-26 2019-11-01 湖南大用智能科技有限公司 Robot welding system
CN110936031A (en) * 2019-12-25 2020-03-31 北京航天控制仪器研究所 Full-automatic numerical control laser cutting method with sampling inspection function
CN110936032A (en) * 2019-12-25 2020-03-31 北京航天控制仪器研究所 Full-automatic numerical control laser cutting device with selective examination function

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105880894A (en) * 2016-06-08 2016-08-24 佛山市联智新创科技有限公司 Complete equipment of welding robot and welding jig
CN106514077A (en) * 2016-11-28 2017-03-22 苏州五圣通机器人自动化有限公司 High-precision robot automatic welding device special for grid plate and working method thereof
CN106695202A (en) * 2016-11-28 2017-05-24 苏州五圣通机器人自动化有限公司 Intelligent automatic welding system and operation method thereof for grid plate welding and operation method
CN106514077B (en) * 2016-11-28 2019-03-12 苏州五圣通机器人自动化有限公司 A kind of Turbogrid plates special high-accuracy robot automatic welding device and its working method
CN106695202B (en) * 2016-11-28 2019-05-31 苏州五圣通机器人自动化有限公司 A kind of intelligent automatic welding system and its working method for Turbogrid plates welding
CN106584006A (en) * 2017-02-16 2017-04-26 珠海格力智能装备有限公司 Oil heater clamping device, oil heater taking and discharging robot and oil heater welding equipment
CN106584006B (en) * 2017-02-16 2019-05-24 珠海格力智能装备有限公司 Oil heater clamp device, oil heater pick and place material robot and oil heater welding equipment
CN110070792A (en) * 2019-04-28 2019-07-30 陈龙 Artificial Intelligence Laboratory
CN110394540A (en) * 2019-07-26 2019-11-01 湖南大用智能科技有限公司 Robot welding system
CN110936031A (en) * 2019-12-25 2020-03-31 北京航天控制仪器研究所 Full-automatic numerical control laser cutting method with sampling inspection function
CN110936032A (en) * 2019-12-25 2020-03-31 北京航天控制仪器研究所 Full-automatic numerical control laser cutting device with selective examination function

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160504

Termination date: 20181201

CF01 Termination of patent right due to non-payment of annual fee