CN213437975U

CN213437975U - Welding robot

Info

Publication number: CN213437975U
Application number: CN202022477779.XU
Authority: CN
Inventors: 刘春成
Original assignee: Yun Jia Group Ltd
Current assignee: Yun Jia Group Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-06-15
Anticipated expiration: 2030-10-30

Abstract

The utility model discloses a welding robot, including workstation, welding set and drive welding set is relative the drive arrangement that the workstation removed still include with workstation relatively fixed's positioning and calibrating device, positioning and calibrating device have with welding set's bonding tool matched with constant head tank, with constant head tank groove depth direction, horizontal direction fix a position. When the position deviation exists in the welding head of the welding device, the welding head of the welding device can be driven to enter the positioning groove, the coordinate reading of the robot is observed, and if a difference value exists between the coordinate reading and the actual coordinate of the positioning groove, the difference value indicates that the deviation occurs in the welding head of the welding device, and therefore the correction is carried out according to the actual coordinate of the positioning groove. The positioning groove which is arranged in a matched mode is used for positioning the welding head, and the position of the current welding head can be accurately determined. Therefore, the welding robot can effectively solve the problem that the welding gun position of the welding robot is difficult to calibrate.

Description

Welding robot

Technical Field

The utility model relates to the field of welding technique, more specifically say, relate to a welding robot.

Background

In the field of automobile manufacturing, robot automation production is very popular, but in actual operation, when the robot works, collision happens inevitably, so that a spot welding gun TCP shifts, and the welding spot track deviates from the correct position, and the teaching is very difficult. The welding tongs parts have a loosening phenomenon in the use process, the TCP of the spot welding gun can be deviated, the motion track needs to be taught again, the time is wasted, and the production is delayed. When the operation is performed at night, the operation is inconvenient by wearing the head lamp; the matched operation of wearing the flashlight by one person is needed, the working hours are increased, and the working efficiency is low.

In summary, how to effectively solve the problem that the position of the welding gun of the welding robot is difficult to calibrate is a problem that needs to be solved urgently by those skilled in the art at present.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a welding robot, this welding robot can solve the difficult problem of calibration of welding robot's welder position effectively.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a welding robot, includes workstation, welding set and drive welding set is relative the workstation is at the drive arrangement who removes, still include with workstation relatively fixed's positioning and calibrating device, positioning and calibrating device have with welding set's bonding tool matched with constant head tank, in order the constant head tank groove depth direction, transverse direction advance line location.

In this welding robot, set up location calibrating device to in long-term use, when welding set's bonding tool had the position deviation, can drive welding set's bonding tool this moment and enter into the constant head tank, observe robot self coordinate reading, and constant head tank actual coordinate whether have the difference between, if there is the difference, then explain, welding set's bonding tool has appeared the deviation, consequently revises according to the actual coordinate of constant head tank. Thereby enabling effective weld head correction. The positioning groove which is arranged in a matched mode is used for positioning the welding head, and the position of the current welding head can be accurately determined. In conclusion, the welding robot can effectively solve the problem that the welding gun position of the welding robot is difficult to calibrate.

Preferably, the welding device includes an upper welding head and a lower welding head matched with the upper welding head, the two positioning grooves are arranged in an opposite manner to respectively position the upper welding head and the lower welding head, and are communicated with each other, so that the upper welding head is abutted to the top end of the lower welding head.

Preferably, the positioning and calibrating device comprises a positioning plate and a supporting column, wherein the positioning plate is horizontally arranged, the upper end of the supporting column is fixedly connected with the middle part of the positioning plate, and the positioning grooves are respectively formed in the upper side and the lower side of the positioning plate.

Preferably, the positioning and calibrating device further comprises a supporting bottom plate, the lower portion of the supporting column is fixedly connected with the supporting bottom plate, and the supporting bottom plate is provided with a through hole which is vertically communicated, so that the supporting bottom plate is fixed on the workbench through a connecting rod penetrating through the through hole.

Preferably, the cross section of the supporting column is square, four sides of the supporting bottom plate protrude out of the supporting column to form a square, and the four corners of the supporting bottom plate are provided with the through holes.

Preferably, the positioning plate is further provided with a positioning sliding groove which extends transversely and is through from top to bottom, and the upper welding head and the lower welding head can abut against each other in the positioning sliding groove and can be respectively in sliding fit with the upper portion and the lower portion of the positioning sliding groove.

Preferably, the positioning plate is provided with two positioning chutes which are perpendicular to each other.

Preferably, the ends of the two positioning runners communicate so that the upper and lower welding heads can move laterally from one of the positioning runners into the other.

Preferably, a touch sensor is arranged in the positioning groove, and the driving device stops driving when the touch sensor detects touch.

Preferably, the distance between the life lines of the electrode caps of the upper welding head and the lower welding head in a state of abutting against each other is equal to the thickness of the positioning plate.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a positioning calibration apparatus according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a welding device according to an embodiment of the present invention respectively at different positioning positions;

fig. 3 is a schematic structural view of upper and lower welding heads in a positioning groove according to an embodiment of the present invention.

The drawings are numbered as follows:

the welding device comprises an upper welding head 1, a lower welding head 2, a positioning groove 3, a positioning plate 4, a support column 5, a support bottom plate 6 and a positioning sliding groove 7.

Detailed Description

The embodiment of the utility model discloses welding robot to solve the difficult problem of calibration of welding robot's welder position effectively.

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. 1-3, fig. 1 is a schematic structural diagram of a positioning calibration device according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a welding device according to an embodiment of the present invention respectively at different positioning positions; fig. 3 is a schematic structural view of upper and lower welding heads in a positioning groove according to an embodiment of the present invention.

In a specific embodiment, the present embodiment provides a welding robot, primarily a spot welding robot, which is a welding robot that can be calibrated. The welding robot comprises a workbench, a welding device, a driving device and a positioning and calibrating device.

Wherein the workstation is used for placing by welding equipment to bear fixedly by welding equipment, general workstation corresponds on the mesa and is provided with the product frock, mainly includes fixation clamp, bearing structure etc. specifically, can also set up as required. The welding device is used for welding the welded equipment on the workbench. The welding gun mainly has a welding gun structure, and is generally a spot welding device which mainly comprises an upper welding head 1 and a lower welding head 2 which are arranged in an up-and-down matching manner. Of course, the welding device may also be a butt welding device, a plasma welding device, or the like.

The driving device is used for driving the welding device to move freely relative to the workbench in a three-dimensional space, so that the welding device can be supported, and meanwhile, the welding device can move to different welding positions relative to the workbench, so that the welded equipment is welded at different welding positions. The driving device is mainly a robot arm so as to well drive the welding device to move in a three-dimensional space. Mainly an X direction, a Y direction, and a Z direction, which are arranged perpendicular to each other, and an up-down direction is generally defined as the Z direction, as in the above-described spot welding apparatus in which the upper horn 1 and the lower horn 2 are abutted in the Z direction.

Wherein the location calibrating device with the workstation relatively fixed to with workstation relative position relation that keeps stable, direct fixed mode can be can dismantle fixed connection, like joint, screw connection etc.. Or may be a non-removable fixed connection such as welding.

The positioning and calibrating device is provided with a positioning groove 3 matched with a welding head of the welding device so as to position in the depth direction and the transverse direction of the positioning groove 3. The position of the positioning groove 3 relative to the workbench is fixed, so that in the long-term use process, the position change basically does not occur, the position between the positioning groove 3 and the workbench is determined, the welding head of the welding device moves into the positioning groove 3, the unique position of the welding head is limited by the positioning groove 3, the position of the welding head relative to the workbench is determined at the moment, the coordinate reading of the welding robot at the moment is compared with the coordinate of the positioning groove 3, whether the coordinate reading of the robot has deviation can be known, and if the deviation exists, the coordinate of the positioning groove 3 can be used for reading and correcting the coordinate of the robot at the moment. Note that, for convenience of correction, it is preferable that the positioning groove 3 be provided at a TCP position (machine CENTER POINT), that is, a position set corresponding to a coordinate origin of a machine reading coordinate, so that the calibration is more convenient.

In this welding robot, set up the location calibrating device to in long-term use, when welding set's bonding tool had positional deviation, can drive welding set's bonding tool this moment and enter into constant head tank 3, observe whether robot self coordinate reading and constant head tank 3 actual coordinate have the difference between, if there is the difference, then explain, welding set's bonding tool has appeared the deviation, consequently revises according to the actual coordinate of constant head tank 3. Thereby enabling effective weld head correction. The positioning groove 3 which is arranged in a matched mode is used for positioning the welding head, and the position of the current welding head can be accurately determined. In conclusion, the welding robot can effectively solve the problem that the welding gun position of the welding robot is difficult to calibrate.

As mentioned above, when the welding device includes the upper welding head 1 and the lower welding head 2 matched with the upper welding head 1, for better positioning of the welding head, it is preferable that two positioning grooves 3 are oppositely disposed to respectively position the upper welding head 1 and the lower welding head 2, that is, the positioning groove 3 with the upward opening is matched with the upper welding head 1, and the positioning groove 3 with the downward opening is matched with the lower welding head 2. And the intercommunication sets up between these two constant head tanks 3 to make last bonding tool 1 offset with 2 tops of bonding tool down, upward constant head tank 3 can carry out ascending location from top to bottom to last bonding tool 1 promptly, and lower constant head tank 3 can carry out ascending location from top to bottom to bonding tool 2 down, and when last bonding tool 1 and bonding tool 2 were fixed a position by constant head tank 3 respectively down, was in the state of offsetting the switch-on between two bonding tools this moment. So that whether the two welding heads are positioned up and down can be judged by judging whether the two welding heads are butted or not. Wherein, the lower end of the upper welding head 1 and the upper end of the upper welding head 1 are both in cap shapes, one is in a hemispherical shape, and the other is in a circular truncated cone shape. The upper and lower positioning grooves 3 can be communicated to form a cylindrical through hole, and can also form a corresponding arc-shaped groove bottom or a conical groove bottom according to the structural characteristics of the top ends of the upper and lower welding heads, and when the upper and lower welding heads are communicated with each other in the middle, the top points of the upper and lower welding heads can be contacted.

Further, for better setting up constant head tank 3, in order to make things convenient for about constant head tank 3 homoenergetic to realize the location, the preferred location calibrating device of this department includes locating plate 4 and upper end and the 4 middle part fixed connection's of locating plate support column 5 that the level set up, the upper and lower both sides of locating plate 4 are provided with respectively constant head tank 3 to correspond bonding tool 1 and lower bonding tool 2 respectively, in order to avoid interfering, can make upper and lower constant head tank 3 all set up the bight of locating plate 4, and both need coaxial setting, in order to correspond to the position state that last bonding tool 1 offsets with lower bonding tool 2. For better positioning, the distance between the life lines of the electrode caps (positions for determining whether the electrodes can be used continuously) of the upper welding head 1 and the lower welding head 2 in a state of abutting against each other is preferably equal to the thickness of the positioning plate 4, and when the upper welding head 1 and the lower welding head 2 are respectively positioned in the corresponding positioning grooves 3, the life line of the electrode cap of the upper welding head 1 is arranged at the same height as the notch of the upper positioning groove 3, and the life line of the electrode cap of the lower welding head 2 is arranged at the same height as the notch of the lower positioning groove 3.

Specifically, in order to facilitate installation of the positioning and calibrating device, the positioning and calibrating device preferably further includes a supporting bottom plate 6, wherein the lower portion of each supporting column 5 is fixedly connected, preferably welded, to the supporting bottom plate 6, and the upper end of the corresponding supporting column 5 is welded to the positioning plate 4. Wherein the supporting bottom plate 6 is provided with a through hole which is penetrated up and down so as to fix the supporting bottom plate 6 on the workbench through a connecting rod which is penetrated therein, for example, the connecting rod is connected through a screw or a bolt. The cross section of the support column 5 can be round, preferably square, such as a square steel tube. Wherein, the four sides of the supporting bottom plate 6 are protruded out of the supporting columns 5 to be square, and the four corners are provided with the through holes. In order to ensure the positioning effect and ensure the positioning accuracy, the support bottom plate 6, the support columns 5 and the positioning plate 4 are preferably made of metal plates, or made of plastic plates.

Further, as described above, the driving device is configured to drive the welding device to move in a three-dimensional space, and mainly can drive the welding device to move along the X direction, the Y direction, and the Z direction, respectively, where the X direction and the Y direction are generally horizontal and perpendicular to each other, and for convenience of description, the directions perpendicular to the up-down direction are both referred to as a transverse direction. The moving direction of the welding device deviates from the set direction due to the error of the structure of the driving device, the error in the system and the like. Based on this, for better correction of the deviation, here, it is preferable that the positioning plate 4 is further provided with a positioning chute 7 which extends transversely and penetrates vertically, the upper welding head 1 and the lower welding head 2 can abut against each other in the positioning chute 7 and can be respectively in sliding fit with the upper part and the lower part of the positioning chute 7 so as to be limited by the positioning chute 7, and the moving direction of the upper welding head 2 and the moving direction of the lower welding head 2 are determined by the positioning chute 7, so that when moving along the positioning chute 7, the moving direction of the upper welding head 2 and the moving direction of the lower welding head 2 reflected by the machine tool reading are compared, that is, whether the current actual moving direction and the moving direction displayed by the reading have a deviation or not is known, and when the deviation exists, the extending direction of the abscissa axis can be correspondingly.

In view of the lateral direction, two coordinate axes are generally provided, namely the above-mentioned X-coordinate axis and Y-coordinate axis, correspondingly, it is preferable here that two mutually perpendicular positioning runners 7 are provided on the positioning plate 4, namely preferably two positioning runners 7, one positioning runner 7 extending along the X-coordinate axis of the machine tool and the other positioning runner 7 extending along the Y-coordinate axis. For a better transition, the ends of the two positioning runners 7 are preferably connected to one another, so that the upper welding head 1 and the lower welding head 2 can be moved laterally from one positioning runner 7 into the other positioning runner 7. As in the case where the positioning groove 3 is provided at the corner of the positioning plate 4, two positioning runners 7 are provided at both edges opposite to the positioning groove 3.

Further, for more precise knowledge, whether the welding head is precisely located in the positioning slot 3 is preferably provided here with a touch sensor in the positioning slot 3, the drive being stopped when the touch sensor detects a touch. I.e. when the horn enters the corresponding positioning slot 3 and reaches the given position, it is detected by a touch sensor, preferably a pressure sensor.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a welding robot, includes workstation, welding set and drive welding set is relative the drive arrangement that the workstation removed, its characterized in that, still include with workstation relatively fixed's positioning and calibrating device, positioning and calibrating device have with welding set's bonding tool matched with constant head tank, in order constant head tank groove depth direction, transverse direction fix a position.

2. The welding robot according to claim 1, wherein the welding device comprises an upper welding head and a lower welding head matched with the upper welding head, and the two positioning grooves are oppositely arranged to respectively position the upper welding head and the lower welding head and are communicated with each other so that the upper welding head is abutted against the top end of the lower welding head.

3. The welding robot as claimed in claim 2, wherein the positioning calibration means comprises a horizontally disposed positioning plate and a supporting column having an upper end fixedly connected to the middle of the positioning plate, and the positioning grooves are respectively disposed on the upper and lower sides of the positioning plate.

4. The welding robot as claimed in claim 3, wherein the positioning and calibrating device further comprises a support base plate, the lower portion of the support column is fixedly connected with the support base plate, and the support base plate is provided with a through hole for fixing the support base plate on the workbench through a connecting rod penetrating the support base plate.

5. The welding robot as claimed in claim 4, wherein the support columns are square in cross section, four sides of the support base plate protrude from the support columns to be square, and the perforations are provided at four corners.

6. The welding robot according to any one of claims 3 to 5, wherein the positioning plate is further provided with a positioning sliding groove which extends transversely and is through from top to bottom, and the upper welding head and the lower welding head can abut against each other in the positioning sliding groove and can be respectively in sliding fit with the upper part and the lower part of the positioning sliding groove.

7. The welding robot as recited in claim 6, wherein the positioning plate is provided with two positioning chutes perpendicular to each other.

8. The welding robot of claim 7, wherein ends of the two positioning runners communicate such that the upper and lower welding heads can move laterally from one of the positioning runners into the other of the positioning runners.

9. The welding robot as claimed in claim 8, wherein a touch sensor is provided in the positioning groove, and the driving means stops driving when the touch sensor detects a touch.

10. The welding robot of claim 9, wherein the distance between the life lines of the electrode caps of the upper welding head and the lower welding head in a state of abutting against each other is equal to the thickness of the positioning plate.