CN218517999U

CN218517999U - Manipulator system used in cooperation with welding robot

Info

Publication number: CN218517999U
Application number: CN202222465284.4U
Authority: CN
Inventors: 肖丹亚; 朱玉堂; 王志刚; 许昌健
Original assignee: Sichuan Shang Yang Electromechanical Equipment Co ltd
Current assignee: Chengdu Renxin Shangyang Robot Technology Co ltd
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2023-02-24
Anticipated expiration: 2032-09-15

Abstract

The utility model discloses a manipulator system that cooperation welding robot used, include: the welding robot comprises a manipulator with a first state and a second state, a fixing mechanism and a clamped body arranged on the welding robot; the manipulator is provided with a clamp with a stress end and a clamping end; a first clamping mechanism and a second clamping mechanism are arranged in the fixing mechanism; when the manipulator is in a first state, the first clamping mechanism is clamped at the stress end of the clamp, and the second clamping mechanism is clamped on the manipulator and used for fixing the manipulator on the fixing mechanism; when the manipulator is in a second state, the stress end of the clamp is separated from the fixing mechanism, and the clamping end of the clamp is clamped on the clamped body; the utility model discloses a manipulator system simple structure, low cost, easy dismounting simultaneously, environmental factor such as reducible light, dust and temperature is trailed the influence to the welding seam, reduces welding programming's the degree of difficulty, also can be used to weld or clear away welding site's debris, enlarges application range.

Description

Manipulator system used in cooperation with welding robot

Technical Field

The utility model relates to a welding frock field particularly, relates to the manipulator system that cooperation welding robot used.

Background

The welding seam tracking technology of the existing welding robot in the welding process needs assistance by structures such as a camera and a sensor, information needs to be continuously processed and corrected in the process, the requirement on software programming is high, the data calculation processing time of the welding seam is long, and the cost is high; meanwhile, factors such as light, dust, temperature and the like in the welding process all influence the camera or the sensor to acquire information, and finally influence the tracking accuracy.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the background technology and provide a manipulator system used in cooperation with a robot and a using method thereof; in the welding process, will the utility model discloses a manipulator is installed welding and people on to use this manipulator to snatch the standard component, can provide the physics positioning action for the robot welding, reduce the influence of external factors such as light, dust and temperature to welding tracking accuracy, and reduce the programming degree of difficulty.

The embodiment of the utility model discloses a realize through following technical scheme:

manipulator system that cooperation welding robot used includes:

the manipulator is provided with a first state and a second state, and a clamp with a stress end and a clamping end is arranged on the manipulator;

the fixing mechanism is internally provided with a first clamping mechanism and a second clamping mechanism; when the manipulator is in a first state, the first clamping mechanism is clamped at the stress end of the clamp, and the second clamping mechanism is clamped on the manipulator and used for fixing the manipulator on the fixing mechanism;

and when the manipulator is in the second state, the stress end of the clamp is separated from the fixing mechanism, and the clamping end of the clamp is clamped on the clamped body.

Preferably, the clamped body is cube-shaped, and in the second state, the clamp is clamped on two arbitrary opposite surfaces of the clamped body.

Preferably, the first clamping mechanism comprises a screw pair with a screw rod and two groups of sliding blocks, wherein the screw thread turning directions of the outer side walls of the two ends of the screw rod are opposite, and the outer side walls of the two ends of the screw rod are respectively provided with one group of sliding blocks, so that the rotation of the screw rod drives the two groups of sliding blocks to relatively approach/depart from each other; and each group of sliding blocks is provided with a group of first clamping pieces, and the two groups of first clamping pieces are used for clamping the stress ends of the clamp.

Preferably, the opposite surfaces of the two groups of first clamping pieces are provided with silica gel pads.

Preferably, the second clamping mechanism comprises a screw pair with a screw rod and two groups of sliding blocks, wherein the thread turning directions of the outer side walls of the two ends of the screw rod are opposite, and the outer side walls of the two ends of the screw rod are respectively provided with one group of sliding blocks, so that the rotation of the screw rod drives the two groups of sliding blocks to relatively approach/depart from each other; and each group of sliding blocks is provided with a group of second clamping pieces, and the two groups of second clamping pieces are used for clamping the manipulator.

Preferably, the manipulator comprises a mechanical arm, the first end of the mechanical arm is connected with the clamp, and the second end of the mechanical arm is connected with a gas claw.

Preferably, the two groups of second clamping pieces are used for clamping the mechanical arm, a silica gel pad is arranged on the opposite surface of each group of second clamping pieces, and a groove matched with the contour of the mechanical arm is formed in the silica gel pad.

Preferably, the fixing mechanism comprises a box body, two groups of supporting plates are arranged in the box body from top to bottom, the supporting plate located on the upper side supports the first clamping mechanism, and the supporting plate located on the lower side supports the second clamping mechanism.

The utility model also discloses a manipulator system's that cooperation welding robot used application method, include:

when the first state is required to be changed into the second state, the method comprises the following steps:

s1, moving a welding robot into an expanded clamping end of a clamp, and expanding a first clamping mechanism to clamp the clamping end onto the welding robot;

and S2, unfolding the second clamping mechanism to enable the manipulator to be separated from the fixing mechanism.

Preferably, when it is required to change from the second state to the first state, the method comprises the following steps:

s3, the welding robot carries the manipulator moves, so that the stress end of the manipulator moves into the first clamping mechanism in an unfolding shape, the first clamping mechanism clamps the stress end of the clamp, the second clamping mechanism clamps the manipulator, and the manipulator is separated from the welding robot and fixed on the fixing mechanism.

The utility model discloses a manipulator system that cooperation welding robot used has following beneficial effect:

1. a manipulator is adopted to grab a standard part on a welding site, physical positioning is carried out, the influence of environmental factors such as light, dust and temperature on welding seam tracking is reduced, and the difficulty of welding programming is reduced.

2. Meanwhile, after the mechanical arm is installed on a welding robot, the mechanical arm can also be used for welding or removing sundries on a welding site, and the application range is enlarged.

3. Easy dismounting can easily be installed this manipulator on the welding robot or put back in fixed establishment with the help of two sets of fixture and spring clamp.

4. The cost advantage, simple structure, low cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for 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 that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.

Fig. 1 is a perspective view of a manipulator system used in cooperation with a welding robot according to the present invention;

fig. 2 is a side view of a manipulator system used in conjunction with a welding robot of the present invention;

fig. 3 is a schematic structural diagram of a first clamping piece in a manipulator system used with the welding robot according to the present invention;

fig. 4 is a schematic structural diagram of a second clamping piece in a manipulator system used with the welding robot of the present invention;

fig. 5 is a schematic view of a clamp structure in a manipulator system used with the welding robot of the present invention;

an icon: 1-fixing mechanism, 10-first clamping mechanism, 11-second clamping mechanism, 100-first clamping piece, 110-second clamping piece, 120-control motor, 130-screw pair, 2-mechanical arm, 20-clamp, 21-mechanical arm, 22-air claw, 3-front end clamping mechanism, 30-clamped body, 4-silica gel pad and 40-groove.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the 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 in 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 should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that are usually placed when the product of this application is used, the description is merely for convenience of description of the present invention and simplification, and it is not intended to indicate or imply that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 5, the utility model provides a manipulator system that cooperation welding robot used, including fixed establishment 1, manipulator 2 and front end fixture 3.

The fixing mechanism 1 comprises a box body, two groups of supporting plates are arranged in the box body from top to bottom, a first clamping mechanism 10 is arranged on the supporting plate on the upper side, and a second clamping mechanism 11 is arranged on the supporting plate on the lower side; when the welding robot does not need to use the manipulator 2, the fixing mechanism 1 is used for storing the manipulator 2, and the state when the manipulator 2 is stored on the fixing mechanism 1 is defined as a first state of the manipulator 2, and the state when the manipulator 2 is installed on the welding robot is defined as a second state of the manipulator 2.

In the first state, the first clamping mechanism 10 and the second clamping mechanism 11 are used for clamping the upper side and the lower side of the manipulator 2 respectively, so that the manipulator 2 is stored in a vertical state.

Referring to fig. 1 and 4, a clamp 20 having a force-bearing end and a clamping end is disposed on the manipulator 2, the clamp 20 is an elastic sheet clamp or a spring clamp, in this embodiment, a spring clamp of a torsion spring structure is adopted, and a layer of silica gel pad 4 is further disposed on a clamping surface of the clamping end of the clamp 20.

In addition, the manipulator 2 further comprises a mechanical arm 21, a first end of the mechanical arm 21 is connected with the clamp 20, a second end of the mechanical arm 21 is connected with a gas claw 22, and the gas claw 22 is used for grabbing standard parts on a welding site to achieve the positioning effect.

Referring to fig. 1 and 2, the first clamping mechanism 10 includes a screw pair 130 having a screw and two sets of sliders, wherein the screw threads on the outer side walls of the two ends of the screw are opposite in turning direction, and the outer side walls of the two ends of the screw are respectively provided with one set of sliders, so that the two sets of sliders are driven to relatively approach/separate by the rotation of the screw, a control motor 120 is further provided in the screw pair 130 for controlling the movement of the screw pair 130, each set of slider is provided with one set of first clamping pieces 100, the two sets of first clamping pieces 100 can relatively approach/separate to realize clamping or releasing actions, and the first clamping mechanism 10 is used for clamping the stressed end of the clamp 20;

the second clamping mechanism 11 has the same structure as the first clamping mechanism 10, that is, the second clamping mechanism 11 includes a screw pair 130 having a screw and two sets of sliders, wherein the outer side walls of the two ends of the screw have opposite screw directions, and the outer side walls of the two ends of the screw are respectively provided with one set of slider, so that the rotation of the screw drives the two sets of sliders to relatively approach/move away; each set of sliding blocks is provided with a set of second clamping pieces 110, and the two sets of second clamping pieces 110 are used for clamping the manipulator 2.

When the manipulator 2 is in the first state, the first clamping mechanism 10 is clamped at the stressed end of the clamp 20 to fix the manipulator 2 on the fixing mechanism 1, and at this time, the second clamping mechanism 11 is clamped on the manipulator 21 of the manipulator 2, and the clamping end of the clamp 20 is unfolded.

Front end fixture 3 is for locating the structure on the welding robot, and front end fixture 3 is provided with and receives clamp 30, receive clamp 30 to be aluminium system cube block structure, when the second state, anchor clamps 20 centre gripping in receive clamp 30 to go up arbitrary relative two sides, anchor clamps 20's stress end breaks away from fixed establishment 1, realizes fixing manipulator 2 on the welding robot, receive to install welder ventilation block and pneumatic quick-operation joint on the clamp 30, the accessible pipeline realizes the high-speed joint of gas claw 22 and pneumatic structure.

In addition, the first clamping piece 100 and the second clamping piece 110 are both in zigzag structure, and when clamping, the end with smaller space between the two clamping pieces is used for clamping the manipulator 2.

The opposite surfaces of each set of the first clamping piece 100 and the second clamping piece 110 are provided with silicone pads 4, in addition, in this embodiment, the outer wall of the mechanical arm 21 is cylindrical, and the silicone pads 4 on the second clamping piece 110 are further provided with grooves 40 matched with the contour of the mechanical arm 21.

The utility model also discloses a manipulator system's that cooperation welding robot used application method specifically as follows:

when the welding robot needs to use the manipulator 2, such as welding positioning or removing impurities, or directly uses the manipulator 2 for welding, at this time, the first state needs to be changed into the second state, and the steps are as follows:

s1, moving the welding robot to a fixing mechanism 1 according to a pre-planned path, entering a clamping end in an expansion shape of a clamp 20, expanding a first clamping mechanism 10, clamping the clamping end to a clamped body 30 of the welding robot by the clamp 20 under the action of self elastic force, and separating a manipulator 2 from the first clamping mechanism 11 and fixing the manipulator to the welding robot.

S2, at the moment, the second clamping mechanism 11 is in a clamping state, and sudden falling of the manipulator 2 is avoided in the processes that the first clamping mechanism 11 is unfolded and the clamp 2 clamps the welding robot stably; after the manipulator 2 is fixed to the welding robot, the second clamping mechanism 11 is unfolded so that the manipulator 2 is detached from the fixing mechanism 1.

The welding robot obtains from fixed establishment 1 manipulator 2 carries out the operation, when the operation is accomplished, does not use manipulator 2, need with manipulator 2 "return" to fixed establishment 1 on, promptly:

when the second state is required to be changed into the first state, the method comprises the following steps:

s3, the welding robot carries the manipulator 2 moves according to the planned path, so that the stress end of the manipulator 2 moves into the first clamping mechanism 10 in an unfolded state, the first clamping mechanism 10 clamps the stress end of the clamp 20, the second clamping mechanism 11 clamps the manipulator 2, and the manipulator 2 is separated from the welding robot and fixed on the fixing mechanism 1.

It should be noted that: in step S3, the second clamping mechanism 11 may clamp the first clamping mechanism 10 synchronously, or the second clamping mechanism 11 may clamp the robot in advance.

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. Manipulator system that cooperation welding robot used, its characterized in that includes:

the manipulator (2) is provided with a first state and a second state, and a clamp (20) with a stress end and a clamping end is arranged on the manipulator (2);

the device comprises a fixing mechanism (1), wherein a first clamping mechanism (10) is arranged in the fixing mechanism (1); when the manipulator (2) is in a first state, the first clamping mechanism (10) is clamped at the stress end of the clamp (20) and used for fixing the manipulator (2) on the fixing mechanism (1);

and a clamped body (30) arranged on the welding robot, wherein when the manipulator (2) is in the second state, the stress end of the clamp (20) is separated from the fixing mechanism (1), and the clamping end of the clamp (20) is clamped on the clamped body (30).

2. The manipulator system used in combination with the welding robot according to claim 1, wherein a second clamping mechanism (11) is further provided in the fixing mechanism (1), and the second clamping mechanism (11) is used for clamping the manipulator (2) in the first state.

3. The manipulator system for use with a welding robot as defined in claim 1, wherein said clamped body (30) is in the shape of a cube, and in the second state, said clamp (20) is clamped to any two opposing surfaces of said clamped body (30).

4. The manipulator system matched with the welding robot for use according to claim 1, wherein the first clamping mechanism (10) comprises a screw pair (130) with a screw rod and two sets of sliding blocks, wherein the screw thread directions of the outer side walls at two ends of the screw rod are opposite, and the outer side walls at two ends of the screw rod are respectively provided with one set of sliding block, so that the rotation of the screw rod drives the two sets of sliding blocks to relatively approach/separate; each group of sliding blocks is provided with a group of first clamping pieces (100), and the two groups of first clamping pieces (100) are used for clamping the stress end of the clamp (20).

5. The manipulator system for use with a welding robot of claim 2, wherein: the second clamping mechanism (11) comprises a screw pair (130) with a screw rod and two groups of sliding blocks, wherein the screw thread turning directions of the outer side walls of the two ends of the screw rod are opposite, and the outer side walls of the two ends of the screw rod are respectively provided with one group of sliding blocks, so that the rotation of the screw rod drives the two groups of sliding blocks to relatively approach/depart from each other; each group of sliding blocks is provided with a group of second clamping pieces (110), and the two groups of second clamping pieces (110) are used for clamping the manipulator (2).

6. The manipulator system for use with a welding robot of claim 5, wherein: the manipulator (2) comprises a mechanical arm (21), the first end of the mechanical arm (21) is connected with the clamp (20), and the second end of the mechanical arm (21) is connected with a gas claw (22).

7. The manipulator system for use with a welding robot of claim 6, wherein: the two groups of second clamping pieces (110) are used for clamping the mechanical arm (21), a silica gel pad (4) is arranged on the opposite surface of each group of second clamping pieces (110), and a groove (40) matched with the contour of the mechanical arm (21) is formed in the silica gel pad (4).

8. The manipulator system for use with a welding robot according to claim 2, characterized in that the fixing mechanism (1) comprises a housing, in which two sets of support plates are arranged from top to bottom, wherein the support plate on the upper side supports the first clamping mechanism (10) and the support plate on the lower side supports the second clamping mechanism (11).