CN210173593U

CN210173593U - Gripper device of welding robot

Info

Publication number: CN210173593U
Application number: CN201921008484.9U
Authority: CN
Inventors: Yin Chen; 陈印
Original assignee: Shandong Jinhongying Industrial Automation Co ltd
Current assignee: Shandong Jinhongying Industrial Automation Co ltd
Priority date: 2019-07-01
Filing date: 2019-07-01
Publication date: 2020-03-24
Anticipated expiration: 2029-07-01

Abstract

The utility model relates to a welding robot technical field specifically is a welding robot's tongs device, including tongs main tributary seat, slide rail pillar and clamping device, the welding has a pair of slide rail pillar under the tongs main tributary seat, and the slide rail sliding connection that slide rail pillar lateral wall established has two pairs of centre gripping travelers, and the clamping device who establishes between the lower extreme of two pairs of centre gripping travelers is including switching seat, pipe clamp framed bent and plate clamp framed bent, and beneficial effect is: when the circular tubular welding piece needs to be clamped, the switching motor is controlled to work, the switching seats in the clamping devices are controlled to rotate, and the pipe clamp bent frames arranged in the two groups of clamping devices rotate to the inner side, so that the circular tubular welding piece can be clamped; the switching motor is controlled to work, the switching seat in the clamping devices is controlled to rotate, and the plate clamp bent frames arranged in the two groups of clamping devices rotate to the inner side, so that the tabular welding parts can be clamped.

Description

Gripper device of welding robot

Technical Field

The utility model relates to a welding robot technical field specifically is a welding robot's tongs device.

Background

The gripper of the welding robot is an operation part of the welding robot, and the gripper directly drives the tail end manipulator to realize the motion and operation of gripping a welding part. In welding robot, because the reason that the welding shape is different, welding robot's tongs shape also is different, carries out the centre gripping in-process to dull and stereotyped welding piece and pipe welding piece, need be changed by the tongs device of two sets of different welding robot, perhaps welding robot's tongs, but actual operation is comparatively troublesome, influences welding efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a tongs device of welding robot to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a gripper device of a welding robot comprises a gripper main seat, slide rail pillars and a clamping device, wherein a pair of parallel slide rail pillars are welded on two sides of the lower surface of the gripper main seat, slide rails with cross sections in a shape like a Chinese character 'tu' are integrally formed on the outer side walls of the two slide rail pillars, the slide rails are arranged along the length direction of the slide rail pillars, the two slide rails on the two slide rail pillars are slidably connected with two pairs of clamping slide columns, the upper ends of the clamping slide columns are slidably connected with the slide rails, the lower parts of the clamping slide columns are vertically and upwards arranged, a slide column cross beam is welded between the upper parts of each pair of clamping slide columns, a screw rod connecting seat is welded on the upper surface of the middle part of the slide column cross beam, clamping motor mounting plates are welded at two ends of the two slide rail pillars, clamping motors are fixedly connected on the outer walls, the screw rod runs through the inboard of clamping motor mounting panel, and two screw rods respectively with the screw rod connecting seat looks spiro union that two traveller crossbeam upper surfaces were established, two pairs be equipped with clamping device between the lower extreme of centre gripping traveller, clamping device is including switching seat, pipe clamp framed bent and board clamp framed bent, clamping device's both ends welding has the pivot, and clamping device rotates through the pivot and every lower extreme to the centre gripping traveller to be connected, and the welding of one side of switching seat has the pipe clamp framed bent, and the welding of the opposite side of switching seat has the board clamp framed bent.

Preferably, the middle of the lower surface of the gripper main seat is welded with a screw rod supporting seat, and the inner ends of the two screw rods are rotatably connected with the screw rod supporting seat.

Preferably, the pipe clamp bent frame is composed of a plurality of arc-shaped fork frames which are uniformly arranged, and anti-skidding rubber pads are bonded on the inner walls of the arc-shaped fork frames of the pipe clamp bent frame.

Preferably, the plate clamp bent is formed by uniformly arranging a plurality of L-shaped fork frames, and the outer wall of each L-shaped fork frame of the plate clamp bent is bonded with an anti-skid rubber layer.

Preferably, a rotating shaft on one side of the switching seat penetrates through the outer side wall of the clamping sliding column, a rotating shaft penetrating through the outer side wall of the clamping sliding column is connected with a switching motor, and the switching motor is fixed on the outer side wall of the clamping sliding column through a bolt.

Compared with the prior art, the beneficial effects of the utility model are that:

1. when the circular tubular welding piece needs to be clamped, the switching motor is controlled to work, the switching seats in the clamping devices are controlled to rotate, and the pipe clamp bent frames arranged in the two groups of clamping devices rotate to the inner side, so that the circular tubular welding piece can be clamped;

2. when the tabular welding part needs to be clamped, the switching motor is controlled to work, and the switching seat in the clamping devices is controlled to rotate, so that the plate clamp bent frames arranged in the two groups of clamping devices rotate to the inner side, the tabular welding part can be clamped, and the switching is quick and convenient.

Drawings

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

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic structural view of the clamping device of the present invention;

FIG. 4 is a front sectional view of the structure of the present invention;

fig. 5 is a cross-sectional view taken at a-a in fig. 4.

In the figure: the gripper comprises a gripper main seat 1, a slide rail support column 2, a slide rail 21, a clamping slide column 3, a clamping device 4, a clamping motor mounting plate 5, a screw rod 6, a switching seat 7, a pipe clamp bent frame 8, a plate clamp bent frame 9, a slide column cross beam 10, a screw rod connecting seat 11 and a screw rod supporting seat 12.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 5, the present invention provides a technical solution: the utility model provides a tongs device of welding robot, including tongs main tributary seat 1, slide rail pillar 2 and clamping device 4, combine shown in fig. 1 and fig. 5, the lower surface both sides welding of tongs main tributary seat 1 have a pair of slide rail pillar 2 that are parallel to each other, the lateral wall integrated into one piece of two slide rail pillars 2 has slide rail 21 that the tangent plane is "protruding" font, slide rail 21 sets up along the length direction of slide rail pillar 2, slide rail 21 sliding connection on two slide rail pillars 2 has two pairs of centre gripping travellers 3, the upper end and the slide rail 21 sliding connection of centre gripping traveller 3, the lower part of centre gripping traveller 3 sets up perpendicularly upwards, it has traveller crossbeam 10 to weld between the upper portion of every centre gripping traveller 3, can slide along the track of slide rail 21 simultaneously between every centre gripping.

Referring to fig. 2 and 4, screw connecting seats 11 are welded on the upper surface of the middle portion of a sliding column cross beam 10, clamping motor mounting plates 5 are welded on the two ends of two sliding rail supports 2, clamping motors are fixedly connected to the outer walls of the two clamping motor mounting plates 5 through bolts, a rotating shaft of each clamping motor is connected with a screw 6 through a coupling, the screws 6 penetrate through the inner sides of the clamping motor mounting plates 5, the two screws 6 are respectively in threaded connection with the screw connecting seats 11 arranged on the upper surfaces of the two sliding column cross beams 10, when the clamping motors are controlled to work, the rotating screws 6 are in threaded connection with the screw connecting seats 11, the clamping sliding columns 3 can be controlled to slide, screw supporting seats 12 are welded on the middle portion of the lower surface of a gripper main seat 1, the inner ends of the two screws 6 are in rotating connection with the screw supporting seats 12, and the stability.

Referring to fig. 1 and 2, a clamping device 4 is disposed between the lower ends of two pairs of clamping sliding columns 3, as shown in fig. 3, the clamping device 4 includes a switching seat 7, a pipe clamp bent 8 and a plate clamp bent 9, rotating shafts are welded at the two ends of the clamping device 4, the clamping device 4 is rotatably connected with the lower end of each pair of clamping sliding columns 3 through the rotating shafts, the pipe clamp bent 8 is welded at one side of the switching seat 7, the pipe clamp bent 8 is composed of a plurality of arc-shaped fork frames which are uniformly arranged, the pipe clamp bent 8 in two groups of clamping devices 4 can clamp a pipe-shaped welding part in the clamping process, an anti-slip rubber pad is bonded on the inner wall of the arc-shaped fork frame of the pipe clamp bent 8, so as to increase the friction force during clamping, a plate clamp bent 9 is welded at the other side of the switching seat 7, the plate clamp bent 9 is composed of a plurality of L-shaped fork frames which are uniformly arranged, in the two groups of, can carry out the centre gripping to flat welding, and the bonding of "L" type crotch outer wall of plate holder framed bent 9 has the non-slip rubber layer, frictional force during the increase centre gripping, combine shown in fig. 1 and fig. 5, switching seat 7 one side pivot runs through out the lateral wall of centre gripping traveller 3, and the pivot that runs through out the lateral wall of centre gripping traveller 3 is connected with the switching motor, and the switching motor passes through the bolt fastening at the lateral wall of centre gripping traveller 3, through the work of control switching motor, switching seat 7 among the control clamping device 4 rotates, according to the welding of centre gripping, can switch pipe clamp framed bent 8 and the plate holder framed bent 9 that the both sides of switching seat 7 were established.

The working principle is as follows: the utility model discloses the during operation, when needs carry out the centre gripping to pipe form welding, through control switching motor work, switching seat 7 among the control clamping device 4 rotates, make the pipe clamp framed bent 8 that establishes among two sets of clamping device 4 rotatory to the inboard, carry out the during operation through control clamping motor, pivoted screw rod 6 and screw rod connecting seat 11 looks spiro union, can control centre gripping traveller 3 and slide, make two sets of clamping device 4 be close to the clamp mutually, can carry out the centre gripping to pipe form welding, when needs carry out the centre gripping to flat welding, through control switching motor work, switching seat 7 among the control clamping device 4 rotates, make the board clamp framed bent 9 that establishes among two sets of clamping device 4 rotatory to the inboard, can carry out the centre gripping to flat welding, it is convenient fast to switch.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a tongs device of welding robot, includes tongs main tributary seat (1), slide rail pillar (2) and clamping device (4), its characterized in that: the gripper is characterized in that a pair of parallel sliding rail supporting columns (2) are welded on two sides of the lower surface of the gripper main seat (1), sliding rails (21) with cross sections in a shape like a Chinese character 'tu' are integrally formed on the outer side walls of the two sliding rail supporting columns (2), the sliding rails (21) are arranged along the length direction of the sliding rail supporting columns (2), two pairs of clamping sliding columns (3) are connected to the sliding rails (21) in a sliding mode, the upper ends of the clamping sliding columns (3) are connected with the sliding rails (21) in a sliding mode, the lower portions of the clamping sliding columns (3) are arranged vertically upwards, a sliding column cross beam (10) is welded between the upper portions of each pair of clamping sliding columns (3), a screw rod connecting seat (11) is welded on the upper surface of the middle of the sliding column cross beam (10), clamping motor mounting plates (5) are welded on two ends of the two sliding rail supporting columns (2, the pivot of clamp motor has screw rod (6) through the coupling joint, and screw rod (6) run through the inboard of clamp motor mounting panel (5), and two screw rods (6) respectively with screw rod connecting seat (11) looks spiro union that two traveller crossbeams (10) upper surfaces were established, two pairs be equipped with clamping device (4) between the lower extreme of centre gripping traveller (3), clamping device (4) including switching seat (7), pipe clamp framed bent (8) and board clamp framed bent (9), the both ends welding of clamping device (4) has the pivot, and clamping device (4) rotate through pivot and every lower extreme to centre gripping traveller (3) to be connected, and the welding of one side of switching seat (7) has pipe clamp framed bent (8), and the welding of the opposite side of switching seat (7) has board clamp framed bent (9).

2. The gripper of a welding robot of claim 1, wherein: the middle of the lower surface of the gripper main seat (1) is welded with a screw rod supporting seat (12), and the inner ends of the two screw rods (6) are rotatably connected with the screw rod supporting seat (12).

3. The gripper of a welding robot of claim 1, wherein: the pipe clamp bent frame (8) is composed of a plurality of arc-shaped fork frames which are uniformly arranged, and anti-skidding rubber pads are bonded on the inner walls of the arc-shaped fork frames of the pipe clamp bent frame (8).

4. The gripper of a welding robot of claim 1, wherein: the plate clamp bent frame (9) is formed by uniformly arranging a plurality of L-shaped fork frames, and an anti-skid rubber layer is adhered to the outer wall of each L-shaped fork frame of the plate clamp bent frame (9).

5. The gripper of a welding robot of claim 1, wherein: the outer side wall of the clamping sliding column (3) penetrates through a rotating shaft on one side of the switching seat (7), the rotating shaft penetrating through the outer side wall of the clamping sliding column (3) is connected with a switching motor, and the switching motor is fixed on the outer side wall of the clamping sliding column (3) through a bolt.