CN217913633U

CN217913633U - Angle adjusting structure of robot welding workstation

Info

Publication number: CN217913633U
Application number: CN202221517998.9U
Authority: CN
Inventors: 石明辉
Original assignee: Qingdao Haibaili Automation Technology Co ltd
Current assignee: Qingdao Haibaili Automation Technology Co ltd
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2022-11-29
Anticipated expiration: 2032-06-17

Abstract

The utility model provides a welding station angular adjustment structure of robot belongs to the automated welding technique field, this welding station angular adjustment structure of robot includes base, angular adjustment mechanism, fixture, welding robot, wherein angular adjustment mechanism includes step motor, centre gripping arm and exposed core, wherein the exposed core can clip the disc of waiting to process, make the disc of waiting to process rotate along with angular adjustment mechanism, the range finding radar above the exposed core can make 120 degrees contained angles between the line of welding point and the central point of disc of waiting to process, welding accuracy has been improved; the clamping mechanism comprises a supporting arm, a fixed arm, a telescopic arm and a clamping clamp, wherein the telescopic arm can be telescopic as required, so that the position of a bolt placing point of the clamping clamp from the central point of the disc to be processed can be adjusted, and the welding flexibility is improved; be provided with servo motor in the support arm, can drive the centre gripping and press from both sides and carry out taking and placing of bolt, saved the manpower.

Description

Angle adjusting structure of robot welding workstation

Technical Field

The utility model belongs to the technical field of automatic welding, particularly, relate to a weldment work of robot station angular adjustment structure.

Background

With the development of society, artificial intelligence is more and more applied in various fields in life, more and more factories begin to adopt robots to carry out simple welding work, the requirement of carrying out bolt welding on a disc is sometimes involved, the angle of the disc needs to be aligned at the moment, and most of the existing robot welding work tables using the priority UR3 robot in denmark have the problems of fixed welding angle, poor flexibility and low accuracy.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a weldment work of robot station angular adjustment structure aims at solving the problem that the angle that current weldment work of robot platform exists is fixed, the flexibility is poor, the accuracy is low.

The utility model discloses a realize like this:

the utility model provides a welding workstation angle adjustment structure of robot, wherein, have the base, be provided with the angle adjustment mechanism fixedly on the base, still be provided with the robot fixing base on the base, the welding robot is fixed to be set up on the base through the robot fixing base; the angle adjusting mechanism is provided with a stepping motor, a connecting rod of the stepping motor is fixedly connected with a clamping arm, a clamping end is arranged on the clamping arm, the clamping end is U-shaped, and an anti-skid layer is arranged inside the clamping end; the base is further provided with a clamping mechanism, and the clamping mechanism is provided with a movable telescopic mechanism.

The utility model provides a pair of weldment work of robot station angular adjustment structure's technological effect as follows: the angle adjusting mechanism is arranged, so that the disc to be processed can rotate by a certain angle according to the requirement while being fixed; the movable telescopic mechanism is arranged on the clamping mechanism, so that the position of the welding spot away from the central point of the disc to be processed can be freely adjusted, and the welding flexibility is improved.

On the basis of the technical scheme, the utility model discloses a weldment work of robot station angular adjustment structure can also do following improvement:

furthermore, angle adjustment mechanism includes step motor, has the centre gripping arm on step motor's the connecting rod, and the tip of centre gripping arm has the exposed core that is used for cliping the disc of waiting to process.

The beneficial effect of adopting the further scheme is as follows: the disc to be processed is clamped by arranging the U-shaped clamping end, so that the disc to be processed keeps rotating horizontally.

Further, a rubber pad is arranged in the clamping end.

The beneficial effect of adopting the further scheme is as follows: the friction between the clamping end and the disc to be processed is increased, and falling off is prevented.

Further, fixture includes support arm, fixed arm and flexible arm, the roof fixed connection of support arm and base, be provided with servo motor in the support arm, be connected with the flexible arm of telescopic on the fixed arm, the top of flexible arm is provided with the centre gripping and presss from both sides.

The beneficial effect of adopting the further scheme is as follows: a servo motor is arranged in the supporting arm, so that the position of the clamping clamp for placing the bolt is driven to be more accurate, and the error is reduced; through setting up the flexible arm of telescopic, can adjust the distance of solder joint to the central point for welding position is more nimble.

Furthermore, the robot fixing base is L-shaped, the long arm of the robot fixing base is connected to the base, and the welding robot is connected to the short arm of the robot fixing base.

Further, the top of exposed core is provided with range radar.

The beneficial effect of adopting the further scheme is as follows: the method is used for determining the position of each welding point, so that an included angle of 120 degrees is formed between the connecting line of each welding point and the central point all the time, and the accuracy is improved.

Furthermore, a graduated scale is arranged on the telescopic arm.

The beneficial effect of adopting the further scheme is as follows: can be as required, the flexible regulation of accurate to millimeter is carried out to people for the accuracy is higher.

Further, the projection of the stretchable range of the telescopic arm is totally within the disc to be processed.

The beneficial effect of adopting the above further scheme is that: prevent to press from both sides the in-process of placing the bolt at the centre gripping, the bolt drops. Further, the bottom of base is provided with the rubber pad.

The beneficial effect of adopting the above further scheme is that: increase frictional force, improve the holistic stability of welding station angular adjustment structure of robot.

Compared with the prior art, the utility model provides a pair of weldment work of robot station angular adjustment structure's beneficial effect is: on one hand, the disc to be processed can be fixed on the angle adjusting mechanism by arranging the U-shaped clamping end, the clamping arm and the clamping end are driven by the clamping end to drive the disc to be processed to rotate, the welding points are found by the range radar, and an included angle of 120 degrees is formed between each welding point and a connecting line of central points of the disc to be processed; in the second aspect, the servo motor is arranged in the supporting arm to drive the clamping clamp, so that the bolt can be automatically taken and placed, and labor is saved; in the third aspect, by arranging the telescopic arm, the angle adjusting structure of the robot welding workstation can adjust the position of the placing point of the clamping clamp from the center point of the disc to be processed according to the requirement; through the scheme, the angle adjusting structure of the robot welding workstation realizes random angle adjustment, so that the accuracy is higher and the flexibility is stronger.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is an overall schematic view of an angle adjustment structure of a robotic welding workstation;

FIG. 2 is a schematic view of an angle adjustment mechanism of the robotic welding station;

FIG. 3 is a schematic view of a clamping mechanism of an angular adjustment structure of a robotic welding station;

FIG. 4 is a side view of a clamping mechanism of an angular adjustment mechanism of a robotic welding station;

FIG. 5 is a schematic view of a scale of a robotic welding station angle adjustment mechanism;

FIG. 6 is a schematic view of a welding robot of the angular adjustment configuration of the robotic welding station;

in the drawings, the reference numbers indicate the following list of parts:

1. a base; 11. a robot holder; 2. an angle adjusting mechanism; 21. a stepping motor; 22. a clamp arm; 4. A welding robot; 3. a clamping mechanism; 23. a clamping end; 31. a fixed arm; 32. a telescopic arm; 33. a clamping clip; 5. a disc to be processed; 6. a bolt; 30. a support arm.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are 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.

Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Examples

As shown in fig. 1, the utility model provides an angle adjusting structure of a robot welding workstation, which comprises a base 1, an angle adjusting mechanism 2 is fixedly arranged on the base 1, a robot fixing seat 11 is also arranged on the base 1, and a welding robot 4 is fixedly arranged on the base 1 through the robot fixing seat 11; the angle adjusting mechanism 2 is provided with a stepping motor 21, a connecting rod of the stepping motor 21 is fixedly connected with a clamping arm 22, a clamping end 23 is arranged on the clamping arm 22, the clamping end 23 is U-shaped, and an anti-skid layer is arranged inside the clamping end 23; the base 1 is also provided with a clamping mechanism 3, and the clamping mechanism 3 is provided with a movable telescopic mechanism.

During the use, at first connect welding robot 4 at the top of robot fixing base 11, connect angular adjustment mechanism 2 and fixture 3 at the top of base 1, then will wait to process the disc card between exposed core 23, with the bolt card in centre gripping clamp 33, the start power, step motor 21 drives through centre gripping arm 22 and exposed core 23 and waits to process the disc rotation, when waiting to process the disc rotation to specific angle, just stop rotating, the back is placed the bolt on waiting to process the disc to centre gripping clamp 33 this moment, welding robot 4 welds the back with bolt and waiting to process the disc in the position of placing, angular adjustment mechanism 2 carries out the rotation work once more, work more than the repetition cubic, just accomplished the processing of a disc, change again and process.

Optionally, in the above technical solution, the angle adjusting mechanism 2 includes a stepping motor 21, a connecting rod of the stepping motor 21 is provided with a clamping arm 22, and an end of the clamping arm 22 is provided with a clamping end 23 for clamping a disc to be processed. The clamping end 23 adopting the U-shaped structure fixes the disc to be processed, so that the disc to be processed is prevented from falling off in the rotating process.

Optionally, in the above technical solution, a rubber pad is disposed in the clamping end 23.

Wherein, the rubber pad can strengthen the frictional force between waiting to process disc and exposed core 23 for wait to process the disc more stable.

Optionally, in the above technical solution, the clamping mechanism 3 includes a supporting arm 30, a fixing arm 31 and a telescopic arm 32, the supporting arm 30 is fixedly connected to the top wall of the base 1, a servo motor is disposed in the supporting arm 30, the fixing arm 31 is connected to the telescopic arm 32, and a clamping clip 33 is disposed at a top end of the telescopic arm 32.

Wherein, a servo motor is arranged in the supporting arm 30 and used for driving the clamping clamp 33 to place and take bolts, and the bolts can be accurately and properly placed; because telescopic arm 32 has the telescopic characteristics, so can be according to the distance between the place point of demand adjusting bolt and the central point of waiting to process the disc, improved the welded flexibility.

Optionally, in the above technical solution, the robot fixing base 11 is L-shaped, a long arm of the robot fixing base 11 is connected to the base 1, and the welding robot 4 is connected to a short arm of the robot fixing base 11.

Optionally, in the above technical solution, a distance measuring radar is disposed at the top end of the clamping end 23.

Wherein, range radar be used for confirming between the solder joint with the angle, range radar can be so that each solder joint and wait to be processed and be 120 degrees contained angles between the disc central line point line, and when reacing the solder joint, range radar can give out the instruction for centre gripping presss from both sides 33 and places the bolt on waiting to process the disc, and range radar has improved the welded accuracy nature effectively.

Optionally, in the above technical solution, a graduated scale is arranged on the telescopic arm 32.

Wherein, through setting up the scale, can be artificial carry out the regulation of accurate to the millimeter to flexible arm 32, improved the accuracy nature.

Alternatively, in the above solution, the projection of the stretching range of the telescopic arm 32 is all located in the disc to be processed.

Optionally, in the above technical solution, a rubber pad is disposed at the bottom of the base 1.

The utility model provides a welding workstation angular adjustment structure theory of operation of robot: firstly, the disc to be processed is clamped on the clamping end 23, the angle of the disc to be processed is adjusted by the angle adjusting mechanism 2 with the ranging radar, so that the included angle between the welding point and the connecting line of the central point of the disc to be processed forms a 120-degree angle, after the welding point is reached, the ranging radar can send a signal to enable the servo motor in the supporting arm 30 to drive the clamping clamp 33 to place the bolt on the disc to be processed, and the distance from the welding point to the central point of the disc to be processed can be adjusted by the telescopic arm 32.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The angle adjusting structure of the robot welding workstation is characterized by comprising a base (1), wherein an angle adjusting mechanism (2) is fixedly arranged on the base (1), a robot fixing seat (11) is further arranged on the base (1), the robot fixing seat (11) is fixedly arranged on the base (1), and the robot fixing seat (11) is used for fixing a welding robot (4); the angle adjusting mechanism (2) is provided with a stepping motor (21), a connecting rod of the stepping motor (21) is fixedly connected with a clamping arm (22), a clamping end (23) is arranged on the clamping arm (22), the clamping end (23) is U-shaped, and an anti-skid layer is arranged inside the clamping end (23); the base (1) is further provided with a clamping mechanism (3), and the clamping mechanism (3) is provided with a movable telescopic mechanism.

2. The angle adjustment structure of a robotic welding station according to claim 1, characterized in that the angle adjustment mechanism (2) comprises a stepping motor (21), a connecting rod of the stepping motor (21) is provided with a clamping arm (22), and the end of the clamping arm (22) is provided with a clamping end (23) for clamping a disc to be processed.

3. The robotic welding station angular adjustment structure of claim 2, characterized in that a rubber pad is arranged inside the clamping end (23).

4. The angle adjusting structure of a robot welding workstation according to claim 1, characterized in that the clamping mechanism (3) comprises a supporting arm (30), a fixed arm (31) and a telescopic arm (32), the supporting arm (30) is fixedly connected with the top wall of the base (1), a servo motor is arranged in the supporting arm (30), the telescopic arm (32) is connected to the fixed arm (31), and a clamping clip (33) is arranged at the top end of the telescopic arm (32).

5. The angle adjustment structure of a robot welding workstation according to claim 1, characterized in that the robot holder (11) is L-shaped, the long arm of the robot holder (11) is connected to the base (1), and the welding robot (4) is connected to the short arm of the robot holder (11).

6. The angular adjustment structure of a robotic welding station according to claim 3, characterized in that the top end of the gripping end (23) is provided with a distance radar.

7. A robotic welding station angle adjustment structure as claimed in claim 4, characterized in that a graduated scale is provided on the telescopic arm (32).

8. A robotic welding station angle adjustment structure as claimed in claim 4, characterized in that the projection of the stretchable range of the telescopic arm (32) is entirely within the disc to be processed.

9. The angular adjustment structure of a robotic welding station according to claim 1, characterized in that the bottom of the base (1) is provided with a rubber pad.