CN219852803U - End actuating mechanism capable of flexibly changing welding swing amplitude and welding robot - Google Patents

Abstract

The utility model discloses an end actuating mechanism and a welding robot which can flexibly change welding swing, wherein the end actuating mechanism which can flexibly change the welding swing comprises: the welding gun comprises a welding gun, a multi-degree-of-freedom swing mechanism, a position adjusting mechanism and a visual unit, wherein the multi-degree-of-freedom swing mechanism is arranged on a welding robot, the welding gun is arranged on the multi-degree-of-freedom swing mechanism, the position adjusting mechanism is arranged on the welding gun, the visual unit is arranged on the position adjusting mechanism, the welding gun is driven to do multi-degree-of-freedom motion through the multi-degree-of-freedom swing mechanism, the motion track of the welding gun can be flexibly adjusted, the requirements of different product processing on welding swing are met, the relative positions of a camera and the welding gun can be adjusted through the position adjusting mechanism, and the shooting distance of the camera can be flexibly adjusted.

Description

End actuating mechanism capable of flexibly changing welding swing amplitude and welding robot

Technical Field

The utility model relates to the technical field of welding robots, in particular to an end actuating mechanism capable of flexibly changing welding swing amplitude and a welding robot.

Background

The existing bridge, ship and aerospace welding fields are low in welding automation degree and low in automation equipment utilization rate, and the main production mode is manual welding. In the prior art, automatic welding is performed through a welding robot, however, the requirements of different products on welding swing ranges are different, and the welding robot cannot meet the requirements of the welding swing ranges of the different products. In addition, the position of the camera mounted on the welding gun cannot be adjusted, and the shooting distance cannot be adjusted.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides the end actuating mechanism capable of flexibly changing the welding swing and the welding robot, which can solve the problems that the existing welding robot cannot meet different welding swing requirements and cannot adjust the position of a camera.

An end effector for flexibly translating a welding swing according to an embodiment of a first aspect of the present utility model comprises: a welding gun; the welding gun is arranged on the multi-degree-of-freedom swing mechanism and is used for driving the welding gun to swing in multiple degrees of freedom; the position adjusting mechanism is arranged on the welding gun; and the visual unit is arranged on the position adjusting mechanism and used for adjusting the relative position of the visual unit and the welding gun.

An end effector of an embodiment of the utility model having a compliant transducing swing according to a first aspect of the utility model includes at least the following

The beneficial effects are that:

the welding gun is driven to do multi-degree-of-freedom motion through the multi-degree-of-freedom swing mechanism, the motion track of the welding gun can be flexibly adjusted, the requirements of different product processing on welding swing are met, the relative positions of the visual unit and the welding gun can be adjusted through the position adjusting mechanism, and the shooting distance of the visual unit can be flexibly adjusted.

According to some embodiments of the utility model, the multi-degree-of-freedom swing mechanism comprises a first linear module, a second linear module and a third linear module, wherein a sliding block of the first linear module is fixedly connected with a sliding block of the second linear module, a sliding rail of the second linear module is fixedly connected with a sliding block of the third linear module, movement planes of the first linear module, the second linear module and the third linear module are perpendicular to each other, and the welding gun is arranged on a guide rail of the first linear module.

According to some embodiments of the utility model, the multiple degree of freedom swing mechanism further comprises a clamping unit mounted on the first linear module, and the welding gun is mounted on the clamping unit.

According to some embodiments of the utility model, the clamping unit comprises a limiting member, a clamping member and a connecting member, wherein the connecting member is arranged on the first linear module, the limiting member and the clamping member are arranged on the connecting member, the clamping member clamps the welding gun, and the limiting member is used for limiting radial displacement of the welding gun.

According to some embodiments of the utility model, the multiple degree of freedom swing mechanism further comprises a rotating unit mounted on the guide rail of the first linear module, and the welding gun is mounted on the rotating unit.

According to some embodiments of the utility model, the rotating unit comprises a bracket and a motor, the bracket is fixedly connected with the guide rail of the first linear module, the motor is arranged on the bracket, and an output shaft of the motor is fixedly connected with the clamping unit.

According to some embodiments of the utility model, the position adjusting mechanism comprises a third clamping part, a fourth clamping part and a sliding block, wherein the third clamping part and the fourth clamping part are oppositely arranged at two sides of the welding gun and used for clamping the welding gun, a sliding groove is arranged on the fourth clamping part, the sliding groove corresponds to the sliding block in size, the sliding block is installed in the sliding groove, and the visual unit is installed on the sliding block.

According to some embodiments of the utility model, an arc baffle is also included, the arc baffle mounted on the vision unit.

According to some embodiments of the utility model, the multiple degree of freedom swing mechanism is mounted with a magnet.

A welding robot according to an embodiment of the second aspect of the utility model comprises an end effector as described above that is flexible and changes the welding swing.

The welding robot according to the embodiment of the second aspect of the utility model has at least the following beneficial effects: the welding gun is driven to do multi-degree-of-freedom motion through the multi-degree-of-freedom swing mechanism, the motion track of the welding gun can be flexibly adjusted, the requirements of different product processing on welding swing are met, the relative positions of the visual unit and the welding gun can be adjusted through the position adjusting mechanism, and the shooting distance of the visual unit can be flexibly adjusted.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic diagram of an end effector of the present utility model with a flexible transition welding swing;

FIG. 2 is a schematic diagram illustrating the connection of a first linear module, a second linear module and a rotary unit according to the present utility model;

FIG. 3 is a front view of the first linear module, the second linear module and the rotary unit of the present utility model;

FIG. 4 is a top view of the first linear module, the second linear module and the rotary unit of the present utility model;

FIG. 5 is a left side view of the first linear module, the second linear module and the rotary unit of the present utility model;

FIG. 6 is a schematic illustration of the connection of the welding gun, the limiting member, the clamping member and the connecting member of the present utility model.

Reference numerals:

a welding gun 100,

A multi-degree-of-freedom swing mechanism 200, a first linear module 210, a second linear module 220,

A third linear module 230, a limiting member 240, a clamping member 250, a first clamping portion 251,

A second clamping part 252, a connecting piece 260, a connecting block 261, a connecting plate 262,

A rotating unit 270, a bracket 271, a motor 272, an arc limiting through hole 273,

A position adjusting mechanism 300, a third clamping part 310, a fourth clamping part 320, a slide block 330,

Camera 400,

Arc baffle 500,

A magnet 600.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

Referring to fig. 1, an end effector for flexible, variable welding swing according to an embodiment of a first aspect of the present utility model includes: the welding robot comprises a welding gun 100, a multi-degree-of-freedom swing mechanism 200, a position adjusting mechanism 300 and a visual unit, wherein the multi-degree-of-freedom swing mechanism 200 is arranged on the welding robot, the welding gun 100 is arranged on the multi-degree-of-freedom swing mechanism 200, the position adjusting mechanism 300 is arranged on the welding gun 100, and the visual unit is arranged on the position adjusting mechanism 300. The visual unit is a camera 400.

The welding gun 100 is driven to move in multiple degrees of freedom through the multiple degrees of freedom swing mechanism 200, so that the movement track of the welding gun 100 can be flexibly adjusted, the requirements of different product processing on welding swing can be met, the relative positions of the camera 400 and the welding gun 100 can be adjusted through the position adjusting mechanism 300, and the shooting distance of the camera 400 can be flexibly adjusted.

As shown in fig. 1 to 5, the multi-degree-of-freedom swing mechanism 200 includes a first linear module 210, a second linear module 220 and a third linear module 230, wherein a slider 330 of the first linear module 210 is fixedly connected with a slider 330 of the second linear module 220, a slide rail of the second linear module 220 is fixedly connected with a slider 330 of the third linear module 230, and movement planes of the first linear module 210, the second linear module 220 and the third linear module 230 are perpendicular to each other, and the welding gun 100 is mounted on a guide rail of the first linear module 210. When the first linear module 210 works, the sliding block 330 of the first linear module 210 is fixedly connected with the sliding block 330 of the second linear module 220, the guide rail of the first linear module 210 drives the welding gun 100 to move along the X-axis direction, when the second linear module 220 works, the sliding block 330 of the second linear module 220 drives the sliding block 330 of the first linear module 210 to move along the guide rail of the second linear module 220, so as to drive the welding gun 100 to move along the Z-axis direction, and when the third linear module 230 works, the sliding block 330 of the third linear module 230 drives the guide rail of the second linear module 220 to move along the guide rail of the third linear module 230, so as to drive the welding gun 100 to move along the Y-axis direction. The first linear module 210, the second linear module 220 and the third linear module 230 can drive the welding gun 100 to do a plurality of degrees of freedom motions to execute different swing ranges.

As shown in fig. 6, the multiple degree of freedom swing mechanism 200 further includes a clamping unit mounted on the first linear module 210, and the welding gun 100 is mounted on the clamping unit. The clamping unit comprises a limiting piece 240, a clamping piece 250 and a connecting piece 260, wherein the connecting piece 260 is installed on the first linear module 210, the limiting piece 240 and the clamping piece 250 are installed on the connecting piece 260, the clamping piece 250 clamps the welding gun 100, and the limiting piece 240 is used for limiting radial displacement of the welding gun 100. The clamping members 250 clamp different parts of the welding gun 100, so that the welding gun 100 can be moved along the axial direction of the welding gun 100, the limiting members 240 can limit the displacement of the welding gun 100 in the radial direction, and the welding gun 100 is kept stable in the process of moving the welding gun 100.

As shown in fig. 6, the clamping member 250 includes a first clamping portion 251 and a second clamping portion 252, the first clamping portion 251 and the second clamping portion 252 are correspondingly disposed on two sides of the welding gun 100, the first clamping portion 251 is a first clamping block, and the second clamping portion 252 is a second clamping block. One side of the first clamping block is hinged with one side of the second clamping block through a hinge, the other side of the first clamping block is clamped with the other side of the second clamping block, and the relative positions of the first clamping block and the second clamping block can be conveniently adjusted through the hinge, so that the welding gun 100 can be conveniently placed between the first clamping block and the second clamping block. The first clamping block is provided with first draw-in groove towards one side of welder 100, and the second clamping block is provided with the second draw-in groove towards one side of welder 100, and first clamping block and second clamping block can stabilize centre gripping welder 100 through first draw-in groove and second draw-in groove.

As shown in fig. 6, the connector 260 includes a connection block 261 and a connection plate 262, the connection plate 262 is mounted on the connection block 261, the clamping member 250 is mounted on the connection block 261, the limiting member 240 is mounted on the connection plate 262, the multi-degree-of-freedom swing mechanism 200 further includes a rotation unit 270, the rotation unit 270 includes a bracket 271 and a motor 272, the bracket 271 is fixedly mounted at one end of the guide rail of the first linear module 210, the motor 272 is mounted on the bracket 271, and an output shaft of the motor 272 is fixedly connected with the connection block 261. When the motor 272 works, the output shaft of the motor 272 drives the connecting piece 260 to rotate, so that the welding gun 100 is driven to rotate, the freedom degree of the movement of the welding gun 100 is increased, and the swing requirements of different product processing are met. The bracket 271 comprises two mounting plates, the two mounting plates are respectively arranged on two sides of the motor 272, arc-shaped limiting through holes 273 are formed in the two mounting plates, a first screw hole is formed in a shell of the motor 272, a first screw penetrates through the arc-shaped limiting through holes 273 to be connected with the first screw hole, the motor 272 can rotate along the arc-shaped limiting through holes 273 through the first screw, the position of the motor 272 can be flexibly adjusted, and after the position of the motor 272 is adjusted, the motor 272 is fixed on the mounting plates by tightening the first screw.

As shown in fig. 6, the position adjusting mechanism 300 includes a third clamping portion 310, a fourth clamping portion 320 and a slider 330, where the third clamping portion 310 is a third clamping block, the fourth clamping portion 320 is a fourth clamping block, the third clamping block and the fourth clamping block are relatively disposed on two sides of the welding gun 100, a third clamping groove is disposed on a side of the third clamping block facing the welding gun 100, a fourth clamping groove is disposed on a side of the fourth clamping block facing the welding gun 100, and the third clamping block and the fourth clamping block can stably clamp the welding gun 100 through the third clamping and the fourth clamping groove, so that the camera 400 is stably mounted on the welding gun 100.

As shown in fig. 6, the third clamping block and the fourth clamping block are provided with corresponding second screw holes, and are connected with each other through the second screw holes and the second screws. The fourth clamping block is provided with a sliding groove, the sliding groove corresponds to the sliding block 330 in size, the sliding block 330 is installed in the sliding groove, and the camera 400 is installed on the sliding block 330. The sliding groove and the sliding block 330 are provided with corresponding third screw holes, the sliding block 330 is provided with a plurality of third screw holes which are arranged at intervals in a straight line, and the sliding groove and the sliding block 330 are connected with each other through the third screw holes and the third screws. The sliding block 330 is slid along the sliding groove, so that the relative position of the sliding block 330 and the sliding groove can be conveniently adjusted, and the sliding block 330 is fixed on the sliding groove through the third screw and the third screw hole, thereby realizing the position adjustment of the camera 400.

As shown in fig. 6, an arc baffle 500 is further included, and the arc baffle 500 is mounted on the camera 400. The arc baffle 500 can prevent the image acquisition from being affected by the spatter accompanying the welding process.

As shown in fig. 1, a plurality of magnets 600 are installed at the bottom of the guide rail of the third linear module 230, and the third linear module 230 can be attached to the welding robot through the magnets 600, so that the assembly and the disassembly are convenient.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, but the present utility model is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present utility model.

Claims (10)

1. End effector that can flexible transformation welding swing installs on welding robot, its characterized in that includes:

a welding gun (100);

the multi-degree-of-freedom swing mechanism (200), the multi-degree-of-freedom swing mechanism (200) is arranged on the welding robot, and the welding gun (100) is arranged on the multi-degree-of-freedom swing mechanism (200) and used for driving the welding gun (100) to swing in multiple degrees of freedom;

a position adjustment mechanism (300), the position adjustment mechanism (300) being mounted on the welding gun (100);

and a vision unit mounted on the position adjustment mechanism (300) for adjusting the relative position of the vision unit and the welding gun (100).

2. The flexible, variable welding swing end effector of claim 1, wherein: the multi-degree-of-freedom swing mechanism (200) comprises a first linear module (210), a second linear module (220) and a third linear module (230), wherein a sliding block (330) of the first linear module (210) is fixedly connected with a sliding block (330) of the second linear module (220), a sliding rail of the second linear module (220) is fixedly connected with a sliding block (330) of the third linear module (230), the movement planes of the first linear module (210), the second linear module (220) and the third linear module (230) are perpendicular to each other, and the welding gun (100) is installed on the guide rail of the first linear module (210).

3. The flexible, variable welding swing end effector of claim 2, wherein: the multi-degree-of-freedom swing mechanism (200) further comprises a clamping unit, wherein the clamping unit is arranged on the first linear module (210), and the welding gun (100) is arranged on the clamping unit.

4. The flexible, variable welding swing end effector of claim 3, wherein: the clamping unit comprises a limiting piece (240), a clamping piece (250) and a connecting piece (260), wherein the connecting piece (260) is installed on the first linear module (210), the limiting piece (240) and the clamping piece (250) are installed on the connecting piece (260), the clamping piece (250) clamps the welding gun (100), and the limiting piece (240) is used for limiting radial displacement of the welding gun (100).

5. The flexible, variable welding swing end effector of claim 3, wherein: the multi-degree-of-freedom swing mechanism (200) further comprises a rotating unit (270), the rotating unit (270) is mounted on the guide rail of the first linear module (210), and the welding gun (100) is mounted on the rotating unit (270).

6. The flexible, variable welding swing end effector of claim 5, wherein: the rotating unit (270) comprises a support (271) and a motor (272), the support (271) is fixedly connected with the guide rail of the first linear module (210), the motor (272) is installed on the support (271), and an output shaft of the motor (272) is fixedly connected with the clamping unit.

7. The flexible, variable welding swing end effector of claim 1, wherein: the position adjusting mechanism (300) comprises a third clamping part (310), a fourth clamping part (320) and a sliding block (330), wherein the third clamping part (310) and the fourth clamping part (320) are oppositely arranged on two sides of the welding gun (100) and used for clamping the welding gun (100), a sliding groove is formed in the fourth clamping part (320), the sliding groove corresponds to the sliding block (330) in size, the sliding block (330) is arranged in the sliding groove, and the vision unit is arranged on the sliding block (330).

8. The flexible, variable welding swing end effector of claim 1, wherein: an arc baffle (500) is also included, the arc baffle (500) being mounted on the vision unit.

9. The flexible, variable welding swing end effector of claim 1, wherein: the multi-degree-of-freedom swing mechanism (200) is provided with a magnet (600).

10. Welding robot, its characterized in that: an end effector comprising the flexible, translational welding swing of any one of claims 1 to 9.