CN206732340U - Arc welding robot TCP calibrators - Google Patents
Arc welding robot TCP calibrators Download PDFInfo
- Publication number
- CN206732340U CN206732340U CN201621345019.0U CN201621345019U CN206732340U CN 206732340 U CN206732340 U CN 206732340U CN 201621345019 U CN201621345019 U CN 201621345019U CN 206732340 U CN206732340 U CN 206732340U
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- CN
- China
- Prior art keywords
- arc welding
- welding robot
- locating slot
- proximity transducer
- welding wire
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Abstract
It the utility model is related to a kind of arc welding robot TCP calibrators, including calibrator seat, a locating slot is offered on the top surface of the calibrator seat, proximity transducer is installed in the locating slot, the sensor is arranged on the bottom of the locating slot, and the proximity transducer is electrically connected with indicator lamp；Also include detection welding wire, the detection welding wire is arranged on arc welding robot, and the diameter for detecting welding wire is less than the diameter of the locating slot.The beneficial effects of the utility model are：By the way that in arc welding robot movement detection welding wire to locating slot, when the distance for detecting welding wire and proximity transducer meets setting value, verification is qualified, and indicator lamp is bright；Otherwise verify unqualified, indicator lamp does not work.It is thereby achieved that the verification of automation, improves the degree of accuracy of verification；By observe sensor indicator lamp whether Chang Liang, judge whether robotic gun and welding gun are subjected to displacement, visual result；It is simple in construction, it is easy to operate, it can accurately detect the displacement of arc welding robot.
Description
Technical field
The utility model belongs to field of machining, and in particular to a kind of arc welding robot TCP calibrators.
Background technology
Arc welding robot (arcweldingrobot) is the industrial robot for carrying out automatic arc welding.Arc welding robot
It is made up of the part such as teaching box, control panel, robot seat and automatic wire feeding device, the source of welding current.Can be in the control of computer
Continuous path control and point position control are realized under system.Linear interpolation and the welding of circular interpolation function can also be utilized by straight line and circle
The space weld that arc is formed.Arc welding robot mainly has consumable electrode weld job and non-melt pole weld job two types,
Have the characteristics that weld job can be carried out for a long time, ensure high production rate, high quality and the high stability of weld job.
With the development of automated manufacturing, arc welding robot has gradually substituted artificial progress production operation, its homework precision
It is required that it is high, and the defects of being subjected to displacement in welding gun and joint shaft operation be present in arc welding robot, this problem can have a strong impact on arc-welding
The coordinate accuracy of robot target execution position.Therefore, need to calibrate arc welding robot before performing operation.
Arc welding robot TCP is calibrated using needle point point at present, in calibration, passes through the welding wire of arc welding robot welding gun front end
Whether offset with the registration of needle point point to differentiate.But existing arc welding robot TCP detection means is only capable of going by human eye
Identify whether to be subjected to displacement, because the difference of eye-observation angle, it is impossible to realize whether accurate differentiate offsets, it is impossible to position machine
The offset of person joint's axle and welding gun, it can not more send alarm and halt instruction.Cause to be stranded to the inspection work of arc welding robot TCP schools
Difficulty, false judgment is easily caused, cause each joint shaft of welding gun and robot under unknown situation to shift.
Utility model content
Inaccurate problem is examined in order to solve arc welding robot TCP schools existing for prior art, the utility model provides one
Kind arc welding robot TCP calibrators, it has the characteristics that accuracy, can prompt alarm.
Technical scheme is used by the utility model：
A kind of arc welding robot TCP calibrators, including calibrator seat, offer on the top surface of the calibrator seat one it is fixed
Position groove, is provided with proximity transducer in the locating slot, the proximity transducer is arranged on the bottom of the locating slot, described to connect
Nearly sensor is electrically connected with indicator lamp；Also include detection welding wire, the detection welding wire is arranged on arc welding robot, and detects weldering
The diameter of silk is less than the diameter of the locating slot.
The utility model moves detection welding wire in locating slot by arc welding robot, when detection welding wire and proximity transducer
Distance when meeting setting value, verification is qualified, and indicator lamp is bright；Otherwise verify unqualified, indicator lamp does not work.It is thereby achieved that from
The verification of dynamicization, improve the degree of accuracy of verification.By pre-set programs, the displacement of arc welding robot can be accurately detected, can
The accuracy of detection of displacement is controlled within 0.15mm, improves the precision of verification.
Further, in addition to programmable logic controller (PLC), the programmable logic controller (PLC) receive described close to sensing
The signal that device is sent, and arc welding robot described in the programmable logic controller (PLC) output control.Programmable logic controller (PLC), letter
Claim PLC, be it is a kind of use a kind of programmable memory, for its internally stored program, execution logic computing, sequential control,
Regularly, the user oriented instruction such as counting and arithmetical operation, and it is various types of by numeral or analog pattern input/output control
Machinery or production process.PLC can verify obstructed out-of-date, control stops robot by receiving the signal of sensor.
Further, in addition to alarm, the alarm electrically connect with the proximity transducer.It is obstructed out-of-date to examine,
Sensor is signaled to alarm, alarm equipment alarm, plays warning reminding effect.
Further, a diameter of 13mm of the locating slot.
Further, the stem elongation degree of the detection welding wire is 10mm.Detection welding wire stem elongation degree can also be 15mm,
20mm, corresponding modification program setting is needed during detection.
Further, in addition to sensor protective sleeve, the sensor protective sleeve are set in the tail of the proximity transducer
End.
The beneficial effects of the utility model are：By in arc welding robot movement detection welding wire to locating slot, being welded when detecting
When the distance of silk and proximity transducer meets setting value, verification is qualified, and indicator lamp is bright；Otherwise verify unqualified, indicator lamp does not work.
It is thereby achieved that the verification of automation, improves the degree of accuracy of verification；By observe sensor indicator lamp whether Chang Liang, judge
Whether robotic gun and welding gun are subjected to displacement, visual result；It is simple in construction, it is easy to operate, it can accurately detect arc-welding machine
The displacement of people.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is top view of the present utility model；
Fig. 2 is the structural representation of sensor protective sleeve of the present utility model.
1- sensor protective sleeves in figure；2- proximity transducers；3- calibrator seats.
Embodiment
, below will be to technology of the present utility model to make the purpose of this utility model, technical scheme and advantage clearer
Scheme is described in detail.Obviously, described embodiment is only the utility model part of the embodiment, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not before creative work is made
Resulting all other embodiment is put, belongs to the scope that the utility model is protected.
As shown in Fig. 1~2, a kind of arc welding robot TCP calibrators, including calibrator seat 3, the top of the calibrator seat 3
A locating slot is offered on face, the opening diameter of locating slot is 13mm, and proximity transducer 2, institute are provided with the locating slot
The bottom that inductor 2 is arranged on the locating slot is stated, the proximity transducer 2 is electrically connected with indicator lamp；Also include detection welding wire
(not shown), the detection welding wire are arranged on arc welding robot, and the stem elongation degree for detecting welding wire is 10mm, and detects weldering
The diameter of silk is less than the diameter of the locating slot.
Arc welding robot movement detection welding wire is in locating slot, when the distance of detection welding wire and proximity transducer meets setting
During value, verification is qualified, and indicator lamp is bright；Otherwise verify unqualified, indicator lamp does not work.
The improvement project of the present invention is, in addition to programmable logic controller (PLC) and alarm, the Programmable logical controller
Device (PLC) receives the signal that the proximity transducer is sent, and arc-welding machine described in the programmable logic controller (PLC) output control
Device people；The alarm electrically connects with the proximity transducer.
PLC can verify obstructed out-of-date by receiving the signal of sensor, and control stops robot, meanwhile, siren
Alarm is sent, plays warning function.
The connected mode of proximity transducer and checker seat, can be by including 1 embedded connection of sensor protective sleeve, such as scheming
Shown in 2, i.e., one end of described sensor protective sleeve 1 is set in the tail end of the proximity transducer 2, sensor protective sleeve 1 it is another
Checker seat 3 is stretched out in one end.
It should be noted that the stem elongation degree of detection welding wire can set different value, 10mm, 15mm or 20mm etc. is can
With, only it need to change corresponding setting value in a program, you can.
The course of work of the present utility model is：
Specified location in Arc Welding Robot Workstation, mounting and fixing bracket, installs arc-welding machine above fixed support
Device people's TCP calibrators.When work starts, arc welding robot dry extension of electrode degree is fixed to 10mm first, it is pre- by robot
First program, make directly over robot automatic running to arc welding robot TCP calibrators at 20mm, to calibrate in arc welding robot TCP
Device top offers a diameter of 13mm circular hole.Arc welding robot, which moves, detects welding wire, depth 10mm in access aperture, detection
The distance of welding wire and proximity transducer is preset value 0.15mm, it indicates that lamp green light lights, and represents arc welding robot calibration
Complete, normal work can be carried out, while press designated button, arc welding robot returns to origin position.
When arc welding robot calibrates TCP, if detection welding wire could not be entered correctly into locating slot, or detection welding wire enters
After in locating slot, and deeply distance does not reach 10mm, and indicator lamp does not work, then can determine that arc welding robot joint shaft or welding gun hair
Raw displacement, while PLC control machines people is produced and shuts down alarm, and purpose is moved so as to reach school inspection arc welding robot and seat.
It is described above, only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art can readily occur in change in the technical scope that the utility model discloses
Or replace, it should all cover within the scope of protection of the utility model.Therefore, the scope of protection of the utility model should be with the power
The protection domain that profit requires is defined.
Claims (6)
- A kind of 1. arc welding robot TCP calibrators, it is characterised in that：Including calibrator seat, opened on the top surface of the calibrator seat Provided with a locating slot, proximity transducer is installed in the locating slot, the proximity transducer is arranged on the locating slot Bottom, the proximity transducer are electrically connected with indicator lamp；Also include detection welding wire, the detection welding wire is arranged on arc welding robot On, and the diameter of the detection welding wire is less than the diameter of the locating slot.
- 2. arc welding robot TCP calibrators according to claim 1, it is characterised in that：Also include Programmable logical controller Device, the programmable logic controller (PLC) receives the signal that the proximity transducer is sent, and the programmable logic controller (PLC) is defeated Go out and control the arc welding robot.
- 3. arc welding robot TCP calibrators according to claim 1 or 2, it is characterised in that：Also include alarm, it is described Alarm electrically connects with the proximity transducer.
- 4. arc welding robot TCP calibrators according to claim 1, it is characterised in that：The locating slot it is a diameter of 13mm。
- 5. arc welding robot TCP calibrators according to claim 1, it is characterised in that：The stem elongation of the detection welding wire Spend for 10mm.
- 6. arc welding robot TCP calibrators according to claim 1, it is characterised in that：Also include sensor protective sleeve, institute State the tail end that sensor protective sleeve is set in the proximity transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621345019.0U CN206732340U (en) | 2016-12-08 | 2016-12-08 | Arc welding robot TCP calibrators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621345019.0U CN206732340U (en) | 2016-12-08 | 2016-12-08 | Arc welding robot TCP calibrators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206732340U true CN206732340U (en) | 2017-12-12 |
Family
ID=60555615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621345019.0U Expired - Fee Related CN206732340U (en) | 2016-12-08 | 2016-12-08 | Arc welding robot TCP calibrators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206732340U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366524A (en) * | 2018-11-21 | 2019-02-22 | 安徽江淮汽车集团股份有限公司 | Soldering appliance calibration tool |
| CN110508974A (en) * | 2019-07-06 | 2019-11-29 | 北京和信汽车部件有限公司 | A kind of welding robot is to origin detection device and detection method |
| CN110899893A (en) * | 2019-12-24 | 2020-03-24 | 上海和达汽车配件有限公司 | Cross inspection method for offset of welding robot |
| CN115026393A (en) * | 2022-05-23 | 2022-09-09 | 西门子（中国）有限公司 | Tool center point checking system, method, device and storage medium |
-
2016
- 2016-12-08 CN CN201621345019.0U patent/CN206732340U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366524A (en) * | 2018-11-21 | 2019-02-22 | 安徽江淮汽车集团股份有限公司 | Soldering appliance calibration tool |
| CN110508974A (en) * | 2019-07-06 | 2019-11-29 | 北京和信汽车部件有限公司 | A kind of welding robot is to origin detection device and detection method |
| CN110508974B (en) * | 2019-07-06 | 2021-05-11 | 北京和信汽车部件有限公司 | Welding robot pair origin detection device and detection method |
| CN110899893A (en) * | 2019-12-24 | 2020-03-24 | 上海和达汽车配件有限公司 | Cross inspection method for offset of welding robot |
| CN115026393A (en) * | 2022-05-23 | 2022-09-09 | 西门子（中国）有限公司 | Tool center point checking system, method, device and storage medium |
| CN115026393B (en) * | 2022-05-23 | 2024-06-07 | 西门子（中国）有限公司 | Tool center point verification system, method, device and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180723 Address after: 510000 No. 3, modern industrial park, Hualong Town, Panyu District, Guangzhou, Guangdong Patentee after: GUANGZHOU ANDAOTUO AUTOMOBILE SEAT Co.,Ltd. Address before: 130033 Yingkou Road, Changchun economic and Technological Development Zone, Changchun, Jilin, 1183 Patentee before: CHANGCHUN FAW FAWAY ADIENT AUTOMOTIVE METAL COMPONENTS CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171212 Termination date: 20211208 |