CN214323361U - Butt-splicing welding device based on flexible tool and visual positioning - Google Patents
Butt-splicing welding device based on flexible tool and visual positioning Download PDFInfo
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- CN214323361U CN214323361U CN202120025538.3U CN202120025538U CN214323361U CN 214323361 U CN214323361 U CN 214323361U CN 202120025538 U CN202120025538 U CN 202120025538U CN 214323361 U CN214323361 U CN 214323361U
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Abstract
The utility model discloses a butt-welding device based on flexible tooling and visual positioning, which comprises a positioning assembly tooling and a visual unit which are connected on a multi-freedom-degree mechanical arm, wherein the multi-freedom-degree mechanical arm is connected with a picking-up butt-welding tooling and a positioning assembly tooling through a quick-change tool; controlling the magnetic property of the positioning assembly fixture and the picking up tailor-welding fixture by the electric controller; the multi-degree-of-freedom mechanical arm is controlled by the mechanical arm controller to move to be respectively connected with the picking and splicing welding tool or the positioning and assembling tool, and the welding structural part is picked and assembled. The utility model has the characteristics of automatic assembly and accurate assembly, thereby saving a large amount of manpower and time; the flexible production of the welding link is realized, and the welding quality and consistency of the welded structural part are improved.
Description
Technical Field
The utility model relates to a robot automatic processing field especially relates to a to piecing together and welding device based on flexible frock and visual positioning for the automatic location group before realizing welding structure spot welding is right, and improves the group to positioning accuracy.
Background
With the rapid development of domestic modern industry, the welding production tends to be specialized and large-scale. Many welded structural members having complicated structures are widely used in various fields such as energy, construction, heavy and general-purpose machines, etc. They are all formed by welding a plurality of parts and components. In order to determine the position relationship of each component of the welded structure, the fixture for spot welding the welded structure is called a positioning assembly tooling. The positioning group is assembled to the frock and can guarantee the positional relation of each component of weldment and the assembly relation with other spare parts well, can avoid the marking process of many welded structure spares simultaneously again, consequently can improve productivity greatly. However, the existing welding component has no simple positioning assembly tool with high universality, and most assembly positioning tools are specific to specific industries; in addition, the existing installation positioning set is manually operated by workers, and the labor intensity of the workers is high.
Therefore, the positioning group with simple structure and strong universality can be assembled and installed without manual work, and the positioning group with high positioning precision is assembled to the tool, so that the problem to be solved in the field of automatic processing is solved urgently.
SUMMERY OF THE UTILITY MODEL
For solving the above-mentioned defect that exists among the prior art, the utility model aims to provide a location group that can pick up by the robot is to the tailor welding device, and the program control frock produces magnetic attraction, realizes the flexible production of welding link, has promoted welded structure's welding quality and uniformity.
The utility model discloses a realize through following technical scheme.
The utility model provides a butt-welding device based on flexible tooling and visual positioning, which comprises a multi-degree-of-freedom mechanical arm, a picking and butt-welding tooling, a visual unit, a positioning and assembling tooling, a mechanical arm controller and an electric controller;
the multi-degree-of-freedom mechanical arm is connected with a positioning assembly tool and a visual unit, and the multi-degree-of-freedom mechanical arm is connected with a pickup tailor-welding tool and the positioning assembly tool through a quick change tool; controlling the magnetic property of the positioning assembly fixture and the picking up tailor-welding fixture by the electric controller;
the multi-degree-of-freedom mechanical arm is controlled by the mechanical arm controller to move to be respectively connected with the picking and splicing welding tool or the positioning and assembling tool, and the welding structural part is picked and assembled.
Preferably, the welding device further comprises a feeding and discharging area for placing the welded structural part and the finished welded structural part, a welding platform for assembling the welded structural part and a quick-change system bracket for mounting a quick-change tool.
Preferably, the quick-change tool comprises a quick-change tool B arranged on the multi-degree-of-freedom mechanical arm and a quick-change tool A arranged on the positioning group assembling tool and the picking and welding tool.
Preferably, the visual unit is arranged at the top of the multi-degree-of-freedom mechanical arm and is in the same direction with the picking and welding tool and the positioning group assembling tool which are arranged at the end part of the multi-degree-of-freedom mechanical arm.
Preferably, the positioning assembly tool comprises an upper electric permanent magnet chuck, a lower electric permanent magnet chuck and a support, the quick-change tool A is connected to the tail of the support, and the upper electric permanent magnet chuck and the lower electric permanent magnet chuck are respectively arranged at the front part and the bottom part of the support.
Preferably, the upper electric permanent magnetic chuck and the lower electric permanent magnetic chuck are controlled by an electric controller program to be magnetic when in normal operation and non-magnetic when not in operation.
Preferably, the positioning group is vertically arranged or obliquely arranged upwards on the electrified permanent magnetic chuck of the tool.
Preferably, the pick-up and tailor-welding tool comprises a quick-change tool A and an electric permanent magnetic chuck connected through a connecting pipe, and the electric permanent magnetic chuck is vertically arranged.
Preferably, the multi-degree-of-freedom mechanical arm is a six-degree-of-freedom industrial robot.
The utility model discloses owing to take above technical scheme, it has following beneficial effect:
1) the utility model discloses a program control magnetism has or not, can accomplish the fixed of frock and welded structure spare fast, compares in traditional location group to having saved a large amount of manpowers and time to the tailor-welding frock.
2) The utility model can complete the picking and assembling of the welding structural part by matching with the robot and combining with the visual identification, and has high positioning precision;
3) the utility model discloses a robot accomplishes putting of frock and assembling of welded structure spare, effectively improves and assembles the operating efficiency, has realized the flexible production of welding link, has promoted welded structure spare's welding quality and uniformity.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, do not constitute a limitation of the invention, and in which:
fig. 1 is a schematic view of a butt-welding device based on a flexible tool and visual positioning according to the present invention;
FIG. 2 is a schematic view of the positioning assembly fixture I and the multi-degree-of-freedom mechanical arm in matching connection;
FIG. 3 is a schematic structural view of the positioning assembly fixture I of the present invention;
FIG. 4 is a schematic view of the multi-degree-of-freedom mechanical arm of the present invention placing a positioning assembly fixture I on a welding platform;
FIG. 5 is a schematic structural view of the positioning assembly fixture II of the present invention;
FIG. 6 is a schematic view showing the matching connection between the tailor welding tool and the multi-degree-of-freedom mechanical arm according to the present invention;
FIG. 7 is a schematic structural view of the picking and welding tool of the present invention;
fig. 8 is the utility model discloses multi freedom arm picks up welding structure spare sketch through picking up the tailor-welding frock.
In the figure: 1. a multi-degree-of-freedom mechanical arm; 2. picking up a tailor-welding tool; 3. a vision unit; 4. positioning and assembling a tooling II; 5. welding a platform; 6. positioning and assembling a tool I; 7. a robot arm controller; 8. an electric controller; 9. a feeding and discharging area; 10. welding a structural part finished product; 11. welding a structural part; 12. quickly replacing a system bracket; 13. a quick-change tool A; 14. a quick-change tool B; 15. electrifying the permanent magnetic chuck; 16. a support; 17. a power-off permanent magnetic chuck; 18. an electro-permanent magnetic chuck; 19. and (4) connecting the pipes.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided to explain the invention, but not to limit the invention.
As shown in fig. 1, the embodiment of the utility model provides a to tailor-welding device based on flexible frock and visual positioning, include multi freedom arm 1, pick up tailor-welding frock 2, visual unit 3, location group to frock II 4, welded platform 5, location group to frock I6, arm controller 7, automatically controlled ware 8, go up unloading district 9, welded structure finished product 10, welded structure 11 and quick change system support 12.
The multi-degree-of-freedom mechanical arm 1 is connected with a positioning assembly tooling and a visual unit 3, and the multi-degree-of-freedom mechanical arm 1 is connected with a pickup tailor-welding tooling 2 and positioning assembly tooling I6 and II 4 through a quick change tool; the electric controller 8 controls the positioning group to match the magnetism of the tools I6 and II 4 and the picking and tailor-welding tool 2; the feeding and discharging area 9 is arranged on the side of the welding platform 5 and used for placing a welding structural part 11 and a welding structural part finished product 10; the welding platform 5 is used for splicing and welding structural parts; the quick-change system holder 12 is used for changing the quick-change tools a13, B14. The multi-degree-of-freedom mechanical arm 1 adopts a six-degree-of-freedom industrial robot and is arranged between the feeding and discharging area 9 and the welding platform 5.
The device controls a multi-degree-of-freedom mechanical arm 1 to move through a mechanical arm controller 7, and the multi-degree-of-freedom mechanical arm 1 is respectively connected with a picking and splicing tool 2 or a positioning group to assemble tools I6 and II 4, and picks and assembles a welding structural part 11.
As shown in fig. 2, the vision unit 3 is attached to the end of the multi-degree-of-freedom robot arm 1 by a quick-change tool a13 being connected to a quick-change tool B14 for the end of the multi-degree-of-freedom robot arm 1. The visual unit 3 is arranged at the top of the multi-freedom-degree mechanical arm 1 and is in the same direction with the picking and welding tool 2 and the positioning group I6 and II 4 which are arranged at the end part of the multi-freedom-degree mechanical arm 1.
As shown in fig. 3, is a schematic structural view of the positioning assembly tooling i 6 of the present invention; the quick-change tool A13 is connected to the tail of the support 16, and the power-on permanent magnetic chuck 15 and the lower permanent magnetic chuck 17 are respectively arranged at the front part and the bottom part of the support 16. The powered permanent magnetic chuck 15 is vertically disposed. The upper electric permanent magnetic chuck 15 and the lower electric permanent magnetic chuck 17 can control whether the magnetic attraction force exists or not through the program of the electric controller 8, and the electric permanent magnetic chuck has magnetism during normal work and does not have magnetism during non-work. The electric permanent magnetic chuck is instantly magnetized or demagnetized by electrifying or powering off, and can not lose magnetism even if being suddenly powered off, thereby forming better power failure protection.
As shown in fig. 4, the positioning group assembly tooling I6 can be controlled by a currently mature industrial automatic control system, that is, after the multi-degree-of-freedom mechanical arm 1 carries the positioning group assembly tooling I6 to move in place under the guidance of the vision unit 3, the electric permanent magnetic chuck is switched on and off under the control of an I/O signal to achieve the magnetic property, so that the positioning group assembly tooling I6 is fixed on the welding platform 5.
In order to meet the requirement of positioning assembly during non-vertical welding of a welding structural part, the tool can also be designed into a positioning assembly tool II 4 shown in figure 5, and the electrified permanent magnetic chuck 15 is arranged in an upward inclined mode. The positioning group is used for manufacturing a support 16 meeting the requirements according to the welding requirements, then an upper electric permanent magnetic chuck 15 and a lower electric permanent magnetic chuck 17 are installed, and the program control of the upper electric permanent magnetic chuck and the lower electric permanent magnetic chuck is the same as that of the positioning group I6.
The end of the multi-degree-of-freedom mechanical arm 1 is connected with a quick-change tool A13 and a quick-change tool B14 of the end of the multi-degree-of-freedom mechanical arm 1, and a vision unit 3 is installed at the end of the multi-degree-of-freedom mechanical arm 1 as shown in figure 6.
As shown in fig. 7, the tailor welding tool 2 includes a quick-change tool a13 and an electric permanent magnetic chuck 18 connected by a connecting pipe 19, wherein the electric permanent magnetic chuck 18 is vertically arranged. The electric permanent magnetic chuck 18 controls the existence of magnetic attraction thereof through a program, and is magnetic during normal work and is not magnetic during non-work.
The pick-up and tailor-welding tool 2 is controlled by a current mature industrial automatic control system, namely after the multi-degree-of-freedom mechanical arm identifies and positions the welding structural member 11 through the visual unit 3, the multi-degree-of-freedom mechanical arm carries the pick-up and tailor-welding tool 2 to move in place, and then the I/O signal of the multi-degree-of-freedom mechanical arm controls the connection of the electric permanent magnetic chuck to pick up a workpiece, as shown in FIG. 8.
The utility model discloses a leading-in welded structure finished product 10's three-dimensional model in advance, make multi freedom arm 1 can be according to welded structure finished product 10's structural feature, cooperation group is to visual unit 3 through linking firmly different location group to frock I6 or location group to frock II 4 and pick up splice welding frock 2 and utilize the magnetic attraction of electric permanent magnet chuck to accomplish picking up of welded structure 11 on each frock of program control on welded platform 5, accurate positioning and group are to assembling, quick change system support 12 can place different frock and supply 1 calls of multi freedom arm, accomplish the assembly process of welded structure 11 location group.
Adopt the utility model discloses the device carries out based on flexible frock and visual positioning to the stitch welding process as follows:
1) leading the integral three-dimensional model of the welding structural part finished product 10 into the multi-degree-of-freedom mechanical arm 1 system in advance;
2) the multi-degree-of-freedom mechanical arm 1 is matched and connected with a quick-change tool A13 through a quick-change tool B14 on a quick-change system bracket 12; connecting a positioning group assembly tool I6 to the multi-degree-of-freedom mechanical arm 1, and then placing the positioning group assembly tool I6 on a welding platform 5; the positioning group generates magnetic attraction to a lower electric permanent magnetic chuck 17 of the tooling I6 through program control, and the lower electric permanent magnetic chuck is fixed on the welding platform 5;
3) the multi-degree-of-freedom mechanical arm 1 is moved to the position of a quick-change system support 12, the quick-change tool B14 is matched and connected with the quick-change tool A13, the picking and welding tool 2 is connected to the multi-degree-of-freedom mechanical arm 1, the welding structural part 11 is identified and positioned through the visual unit 3, the picking and welding tool 2 is moved to the position of the welding structural part 11, and the electric permanent magnetic chuck 18 of the picking and welding tool 2 generates magnetic suction to pick up the welding structural part 11 through program control;
4) the multi-degree-of-freedom mechanical arm 1 picks up the welding structural part 11 and then moves to the position close to the positioning group assembly tool I6 on the welding platform 5, the positioning group assembly tool I6 is identified and positioned through the vision unit 3, and then the welding structural part 11 is accurately placed to the position of the positioning group assembly tool I6; the positioning group generates magnetic attraction to an electrified permanent magnetic chuck 15 of the tooling I6 through program control to fix the welding structural part 11; at the moment, the positioning and assembling of the first welding structural part are finished;
5) the multi-degree-of-freedom mechanical arm 1 moves to a quick-change system support 12, the picking and tailor-welding tool 2 is put down, the positioning group is picked up and the tool I6 is assembled, and the step 2) is repeated, so that the positioning group is accurately placed on the tool I6;
6) the multi-degree-of-freedom mechanical arm 1 moves to a quick-change system support 12, is connected with a picking and splicing welding tool 2, and repeats the steps 3) and 4) so as to accurately pick and splice the welded structural part 11;
7) and (4) circulating the steps 2) and 4) until the whole welding structural part 11 is assembled.
In the step 2) of assembling and assembling, the multi-degree-of-freedom mechanical arm 1 can call the positioning group to operate the tool II 4 at any time according to the assembling requirement of the welding structural part 11.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.
Claims (9)
1. A butt-welding device based on a flexible tool and visual positioning is characterized by comprising a multi-degree-of-freedom mechanical arm (1), a picking and butt-welding tool (2), a visual unit (3), positioning and butt-welding tools I, II (6, 4), a mechanical arm controller (7) and an electric controller (8);
the multi-degree-of-freedom mechanical arm (1) is connected with a positioning assembly tooling and a visual unit (3), and the multi-degree-of-freedom mechanical arm (1) is connected with a pickup tailor-welding tooling (2) and the positioning assembly tooling I and II (6 and 4) through a quick-change tool; the electric controller (8) is used for controlling the magnetic property of the positioning group to the tools I, II (6, 4) and the picking and welding tool (2);
the multi-degree-of-freedom mechanical arm (1) is controlled by the mechanical arm controller (7) to move to be respectively connected with the picking and splicing welding tool (2) or the positioning group to the tools I, II (6, 4), and the welding structural part (11) is picked and spliced.
2. The butt welding device based on the flexible tool and the visual positioning as claimed in claim 1, further comprising a feeding and discharging area (9) for placing the welded structural member (11), the finished welded structural member (10), a welding platform (5) for assembling the welded structural member (11), and a quick-change system bracket (12) for installing a quick-change tool.
3. The butt-tailor welding device based on the flexible tooling and the visual positioning according to claim 1, wherein the quick-change tool comprises a quick-change tool B (14) arranged on the multi-degree-of-freedom mechanical arm (1) and a quick-change tool A (13) arranged on the positioning group pair tooling I, II (6, 4) and the picking-up tailor welding tooling (2).
4. The butt-welding device based on the flexible tool and the visual positioning is characterized in that the visual unit (3) is arranged at the top of the multi-degree-of-freedom mechanical arm (1) and is in the same direction with the picking-up and butt-welding tool (2) and the positioning group pair tools I and II (6 and 4) which are arranged at the end part of the multi-degree-of-freedom mechanical arm (1).
5. The butt-splicing welding device based on the flexible tool and the visual positioning is characterized in that the positioning group-assembling tools I, II (6, 4) comprise an upper electric permanent magnetic chuck (15), a lower electric permanent magnetic chuck (17) and a bracket (16), a quick-change tool A (13) is connected to the tail of the bracket (16), and the upper electric permanent magnetic chuck (15) and the lower electric permanent magnetic chuck (17) are respectively arranged at the front part and the bottom part of the bracket (16).
6. The butt-splicing welding device based on the flexible tool and the visual positioning as claimed in claim 5, wherein the upper electric permanent magnetic chuck (15) and the lower electric permanent magnetic chuck (17) are controlled by a program of the electric controller (8) to be magnetic when in normal operation and non-magnetic when not in operation.
7. The butt-splicing welding device based on the flexible tool and the visual positioning as claimed in claim 5, wherein the positioning group is vertically arranged or obliquely arranged upwards on the powered permanent magnetic chuck (15) of the tool I, II (6, 4).
8. The butt-tailor welding device based on the flexible tooling and the visual positioning as claimed in claim 1, wherein the pick-up tailor welding tooling (2) comprises a quick-change tool A (13) and an electric permanent magnetic chuck (18) connected through a connecting pipe (19), wherein the electric permanent magnetic chuck (18) is vertically arranged.
9. The butt-splicing welding device based on the flexible tooling and the visual positioning as claimed in claim 1, wherein the multi-degree-of-freedom mechanical arm (1) is a six-degree-of-freedom industrial robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120025538.3U CN214323361U (en) | 2021-01-06 | 2021-01-06 | Butt-splicing welding device based on flexible tool and visual positioning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120025538.3U CN214323361U (en) | 2021-01-06 | 2021-01-06 | Butt-splicing welding device based on flexible tool and visual positioning |
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| CN214323361U true CN214323361U (en) | 2021-10-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112775936A (en) * | 2021-01-06 | 2021-05-11 | 西安中科光电精密工程有限公司 | Butt-splicing welding device and method based on flexible tool and visual positioning |
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2021
- 2021-01-06 CN CN202120025538.3U patent/CN214323361U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112775936A (en) * | 2021-01-06 | 2021-05-11 | 西安中科光电精密工程有限公司 | Butt-splicing welding device and method based on flexible tool and visual positioning |
| CN112775936B (en) * | 2021-01-06 | 2024-02-20 | 西安中科光电精密工程有限公司 | Butt welding device and method based on flexible tool and visual positioning |
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| TR01 | Transfer of patent right |
Effective date of registration: 20230621 Address after: No. 15, 3rd Floor, Building 1, No. 4 Xinye Road, High tech Zone, Chengdu, Sichuan, 610097 Patentee after: Tongren Intelligent Technology (Chengdu) Co.,Ltd. Address before: Room 10302, 3rd floor, building 3, East Industrial Building, modern enterprise center, No.2 zhangbawu Road, high tech Zone, Xi'an City, Shaanxi Province, 710077 Patentee before: XI'AN ZHONGKE PHOTOELECTRIC PRECISION ENGINEERING Co.,Ltd. |
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