WO2022041751A1 - 一种焊接机器人焊条夹持机构及其使用方法 - Google Patents

一种焊接机器人焊条夹持机构及其使用方法 Download PDF

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Publication number
WO2022041751A1
WO2022041751A1 PCT/CN2021/086565 CN2021086565W WO2022041751A1 WO 2022041751 A1 WO2022041751 A1 WO 2022041751A1 CN 2021086565 W CN2021086565 W CN 2021086565W WO 2022041751 A1 WO2022041751 A1 WO 2022041751A1
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WIPO (PCT)
Prior art keywords
clamping
feeding
welding
plate
groove
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PCT/CN2021/086565
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English (en)
French (fr)
Inventor
李定国
潘晓平
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南京涵曦月自动化科技有限公司
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Publication of WO2022041751A1 publication Critical patent/WO2022041751A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0252—Steering means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps

Definitions

  • the invention relates to the field of welding robots, in particular to a welding robot welding rod clamping mechanism, and more particularly to a welding robot welding rod clamping mechanism and a method of using the same.
  • Welding robot is a mechanized and programmable tool, which belongs to a kind of industrial robot. Its main function is to use for welding, usually spot welding and arc welding, which can reduce manual labor, improve work efficiency, and save time. The effect of labor saving, the welding robot needs to use the welding rod when welding, and the welding rod needs the welding rod clamping mechanism to be fixed, so the welding rod clamping mechanism belongs to the necessary mechanism of the welding robot;
  • the existing welding robot welding rod clamping mechanism has some deficiencies in use. First, it does not have the feeding function. When using it, it needs to be fixed at the end of the welding rod until the welding rod is used up, but the welding rod belongs to The slender object is directly fixed at the end, which is prone to breakage during the welding process, and the use effect is poor; secondly, the clamping effect is poor, and the welding rod is prone to falling off, sliding, and sideways, and the stability of use is poor; , It is inconvenient to feed the material. When installing the electrode, the accuracy of alignment is very high, which makes the installation of the electrode very troublesome and the convenience of use is poor.
  • the main purpose of the present invention is to provide a welding robot welding rod clamping mechanism, which can effectively solve the problem of the lack of feeding function in the background technology.
  • it needs to be fixed at the end of the welding rod until the welding rod is used up, but the welding rod is slender and long.
  • the object, which is directly fixed at the end, is prone to breakage during the welding process, and the use effect is poor; secondly, the clamping effect is poor, and the welding rod is prone to falling off, sliding, and sideways, and the use stability is poor; in addition, feeding
  • the material is inconvenient.
  • the accuracy of alignment is very high, which leads to the technical problem that the installation of the welding rod is very troublesome and the convenience of use is poor.
  • a welding robot welding rod clamping mechanism includes a fixed plate, a gear is movably installed on one side of the front part of the fixed plate, a first connecting rod is fixedly installed on the outside of the gear, and one end of the first connecting rod passes through
  • the first rotating shaft is movably installed with a collet plate
  • the collet plate is movably connected with a second connecting rod through the second rotating shaft
  • the other end of the second connecting rod is movably connected with the fixing plate through the third rotating shaft
  • the collet The top position of the side of the plate is provided with a feeding mechanism
  • the feeding mechanism includes a first connecting shaft, a first roller, a second connecting shaft, a second roller, a groove and a motor, and one side of the chuck plate is centered
  • the position is provided with a clamping mechanism
  • the front part of the fixed plate is provided with a feeding mechanism.
  • the first roller is movably installed at the top position of one side of the collet plate through the first connecting shaft
  • the second roller is movably installed at the bottom position of one side of the collet plate through the second connecting shaft
  • the groove is opened at the center position of the outer surface of the first roller
  • the motor is fixedly installed at the rear of the chuck plate.
  • the number of the motors is two, and the output shafts of the two motors are respectively fixedly connected to the first connecting shaft and the second connecting shaft.
  • the number of the feeding mechanisms is two groups, and the two groups of feeding mechanisms are symmetrically arranged.
  • the clamping mechanism includes a groove, a cylinder, a slide plate, a first clamping block, a second clamping block, a limit block, a clamping groove and a clamping tooth, and the notched groove is provided on the clamping plate.
  • the side surface of the sliding plate is centered, the cylinder runs through the inside of the groove, the slide plate is slidably connected to the inner side of the groove, the first clamping block is fixedly installed on the top of one side of the sliding plate, and the second clamping block It is fixedly installed at the bottom position of one side of the slide plate, the limiting block is fixedly installed at the inner top edge of the groove, the clamping groove is opened at the center position of one side surface of the first clamping block, and the locking teeth are fixedly installed at the inner top edge of the groove. Inside the clip slot.
  • a clamping groove is also provided on a central position of one side surface of the second clamping block, the number of the clamping mechanisms is two, and the two clamping mechanisms are arranged symmetrically.
  • the feeding seat is fixedly installed at the front top position of the fixing plate
  • the feeding pipe is fixedly installed at the bottom of the feeding seat
  • the fixing ring is fixedly installed on the fixing plate by tightening screws
  • the front part of the feeding tube is covered by the fixing ring, and the chamfered surface is opened at the inner bottom position of the feeding seat.
  • the chamfered surface is inclined at forty-five degrees to the horizontal direction, and a welding rod is penetrated through the inside of the feeding pipe.
  • a method of using a welding rod holding mechanism of a welding robot specifically comprises the following steps:
  • Step 1 First, the external motor drives the gear to rotate, the gear drives the first connecting rod to rotate through the first rotating shaft, and the chuck plate is limited by the second rotating shaft, the third rotating shaft and the second connecting rod, so the gear rotates at the same time. , drive the two chuck plates to move in the opposite or opposite directions, when moving in the opposite direction, fit the two first rollers and the second rollers of the two sets of feeding mechanisms;
  • Step 2 Feed the welding rod manually or through the feeding mechanism through external equipment. During operation, directly put the welding rod through the bottom of the feeding seat, and the welding rod will enter the inside of the feeding tube through the guide of the chamfered surface, and enter through the feeding tube. to the inside of the groove between the two first rollers;
  • Step 3 The two motors work, respectively drive the first roller and the second roller to rotate through the first and second connecting shafts, so that the electrode moves between the two first rollers and the two second rollers to complete the feeding work, the motor stops working after feeding to an appropriate position;
  • Step 4 After the motor stops working, the air cylinder works, and the two air cylinders push the two slide plates to slide on the inner side of the two grooves respectively, so that the two first clamping blocks and the two second clamping blocks move in opposite directions and pass through the inner side of the clamping grooves.
  • the clamping teeth of the welding rod clamp and fix the welding rod, and the welding rod is operated by the support arm of the external welding robot.
  • the movable cover is opened, the waste gas medicines, garbage, etc. used in the inspection are placed in the interior of the recycling box, and the movable cover is closed, so that the ridges are inserted into the interior of the grooves, and the ridges are in the grooves.
  • the inside of the groove squeezes the sealing gasket, so that the convex strip and the groove have good sealing performance, which can facilitate people to concentrate the waste chemicals after use, food with chemicals and other items that will cause harm to the environment. Recycling and carrying to designated laboratories such as inspection laboratories for processing, avoiding direct disposal and polluting the environment, which is more conducive to use;
  • the two motors work, respectively driving the first roller and the second roller to rotate through the first connecting shaft and the second connecting shaft, so that the electrode moves between the two first rollers and the two second rollers,
  • the motor stops working after feeding to a suitable position, which can realize the effect of automatic feeding.
  • the electrode can be continuously fed without fixing the end of the electrode, which will cause the electrode to break during use. , to improve the use effect;
  • the air cylinder works, and the two air cylinders push the two sliding plates to slide on the inner sides of the two grooves, respectively, so that the two first clamping blocks and the two second clamping blocks move in opposite directions, and pass the clamps on the inner side of the clamping grooves.
  • the teeth clamp and fix the welding rod, and the welding rod is operated by the support arm of the external welding robot, and the clamping effect is better, avoiding the phenomenon of side skewing, sliding and falling off of the welding rod during the welding process, and the stability is higher;
  • the welding rod By setting the feeding mechanism, the welding rod is put into the bottom of the feeding seat, and the welding rod enters the inside of the feeding pipe through the guide of the chamfered surface, and enters the groove between the two first rollers through the feeding pipe. It can facilitate feeding, and install the electrode without excessive precision, which greatly improves the convenience of electrode installation.
  • FIG. 1 is a schematic diagram of the overall structure of a welding robot electrode clamping mechanism of the present invention
  • Fig. 2 is the bottom view of the first roller and the chuck plate of a welding robot electrode clamping mechanism of the present invention
  • FIG. 3 is an enlarged view of A in FIG. 1 of a welding robot electrode clamping mechanism of the present invention
  • FIG. 4 is a bottom view of a first clamping block of a welding robot electrode clamping mechanism of the present invention
  • FIG. 5 is a schematic diagram of the internal structure of a feeding seat of a welding robot electrode clamping mechanism of the present invention.
  • a welding robot welding rod clamping mechanism includes a fixed plate 1, a gear 2 is movably installed on the front side of the fixed plate 1, and a first connecting rod 3 is fixedly installed on the outside of the gear 2.
  • One end of the first connecting rod 3 is movably installed with a collet plate 5 through the first rotating shaft 4, the collet plate 5 is movably connected with a second connecting rod 7 through the second rotating shaft 6, and the other end of the second connecting rod 7 passes through the third rotating shaft.
  • 8 is movably connected with the fixed plate 1, and a feeding mechanism 9 is provided at the top position of the side of the chuck plate 5.
  • the feeding mechanism 9 includes a first connecting shaft 901, a first roller 902, a second connecting shaft 903, and a second roller 904 , a groove 905 and a motor 906, a clamping mechanism 10 is provided on one side of the chuck plate 5 in the center, and a feeding mechanism 11 is provided on the front of the fixed plate 1.
  • the feeding mechanism 11 includes a feeding seat 1101, a feeding Tube 1102, fixing ring 1103, fastening screw 1104 and chamfered surface 1105, gear 2, first link 3, first shaft 4, chuck plate 5, second shaft 6, second link 7 and third shaft 8
  • the number of gears is two, and the two gears are connected by 2 teeth;
  • the first roller 902 is movably installed at the top position of one side of the collet plate 5 through the first connecting shaft 901
  • the second roller 904 is movably installed at the bottom position of one side of the collet plate 5 through the second connecting shaft 903, and the groove 905 is opened.
  • the motor 906 is fixedly installed at the rear of the chuck plate 5; the number of the motors 906 is two, and the output shafts of the two motors 906 are respectively connected with the first connecting shaft 901 and the second connecting shaft 901.
  • the shaft 903 is fixedly connected; the number of feeding mechanisms 9 is two groups, and the two groups of feeding mechanisms 9 are symmetrically arranged; the clamping mechanism 10 includes a groove 1001, a cylinder 1002, a sliding plate 1003, a first clamping block 1004, and a second clamping block 1005, the limit block 1006, the clamping groove 1007 and the clamping teeth 1008, the missing groove 1001 is opened at the center position of one side surface of the chuck plate 5, the cylinder 1002 runs through the interior of the missing groove 1001, and the sliding plate 1003 is slidably connected to the side of the missing groove 1001.
  • the first clamping block 1004 is fixedly installed at the top position of one side of the slide plate 1003, the second clamping block 1005 is fixedly installed at the bottom position of one side of the sliding plate 1003, and the limit block 1006 is fixedly installed at the inner top edge position of the groove 1001,
  • the clamping groove 1007 is opened in the middle position of one side surface of the first clamping block 1004, and the clamping teeth 1008 are fixedly installed inside the clamping groove 1007;
  • the central position of the side surface of the second clamping block 1005 is also provided with a clamping groove 1007, and the clamping mechanism
  • the number of 10 is two, and the two clamping mechanisms 10 are arranged symmetrically;
  • the feeding seat 1101 is fixedly installed at the front top position of the fixing plate 1, the feeding pipe 1102 is fixedly installed at the bottom of the feeding seat 1101, and the fixing ring 1103 passes through
  • the fastening screw 1104 is fixedly installed on the front of the fixing plate 1, and the fixing ring 1103 covers the outside of the feeding tube
  • a method for using a welding rod electrode clamping mechanism of a welding robot specifically includes the following steps:
  • Step 1 First, the external motor drives the gear 2 to rotate, the gear 2 drives the first connecting rod 3 to rotate through the first rotating shaft 4, and the chuck plate 5 is connected by the second rotating shaft 6, the third rotating shaft 8 and the second connecting rod 7. Therefore, when the gear 2 rotates, it drives the two chuck plates 5 to move in the opposite or opposite directions.
  • the two first rollers 902 and the second rollers 904 of the two sets of feeding mechanisms 9 are attached to each other. ;
  • Step 2 Use the feeding mechanism 11 to feed the welding rod manually or through external equipment. During operation, directly put the welding rod through the bottom of the feeding seat 1101. The feeding tube 1102 enters the inside of the groove 905 between the two first rollers 902;
  • Step 3 The two motors 906 work, and the first roller 902 and the second roller 904 are driven to rotate through the first connecting shaft 901 and the second connecting shaft 903 respectively, so that the welding rod is moved between the two first rollers 902 and the two second rollers 904. Move between, complete the feeding work, after feeding to the appropriate position, the motor 906 stops working;
  • Step 4 After the motor 906 stops working, the air cylinder 1002 works, and the two air cylinders 1002 push the two sliding plates 1003 to slide on the inner sides of the two notches 1001 respectively, so that the two first clamping blocks 1004 and the two second clamping blocks 1005 face each other. Moving in the direction, the welding rod is clamped and fixed by the clamping teeth 1008 inside the clamping groove 1007, and the welding rod is operated by the support arm of the external welding robot.
  • the feeding mechanism 9 is provided, the two motors 906 work, and the first roller 902 and the second roller 904 are driven to rotate through the first connecting shaft 901 and the second connecting shaft 903 respectively, so that the welding rod rotates between the two first rollers 902 and 904.
  • the two second rollers 904 move between the two second rollers 904 to complete the feeding work.
  • the motor 906 stops working, which can realize the effect of automatic feeding.
  • the welding rod can be continuously fed without being fixed on the welding rod.
  • the end of the welding rod causes the electrode to be broken during use, which improves the use effect; by setting the clamping mechanism 10, the cylinder 1002 works, and the two cylinders 1002 push the two sliding plates 1003 to slide on the inner sides of the two grooves 1001 respectively, so that the two The first clamping block 1004 and the two second clamping blocks 1005 move in opposite directions, the welding rod is clamped and fixed by the clamping teeth 1008 inside the clamping groove 1007, and the welding rod is operated by the arm work of the external welding robot, and the clamping effect is better.
  • the welding rod is placed through the bottom of the feeding seat 1101, and the welding rod is guided by the chamfer surface 1105.
  • the feeding tube 1102 To the inside of the feeding tube 1102, through the feeding tube 1102 to enter the groove 905 between the two first rollers 902, it is convenient to feed the material, and the welding rod does not need to be installed with excessive precision, which greatly improves the welding rod installation. convenience.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Resistance Welding (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

本发明公开了一种焊接机器人焊条夹持机构及其使用方法，包括固定板，所述固定板的前部一侧位置活动安装有齿轮，所述齿轮的外部固定安装有第一连杆，所述第一连杆的一端通过第一转轴活动安装有夹头板，所述夹头板通过第二转轴活动连接有第二连杆。本发明所述的一种焊接机器人焊条夹持机构，首先，能够实现自动给进的功效，在使用时，可以持续不断的给进焊条，无需固定在焊条的末端导致焊条在使用时出现折断的现象，提高使用效果，其次，夹紧效果更好，避免在焊接工作过程中焊条出现侧歪、滑动、脱落的现象，稳定性更高，此外，能够方便喂料，无需过高的精度进行安装焊条，大大的提高了焊条安装的便捷性。

Description

一种焊接机器人焊条夹持机构及其使用方法 技术领域
本发明涉及焊接机器人领域，具体涉及一种焊接机器人焊条夹持机构，更具体涉及一种焊接机器人焊条夹持机构及其使用方法。
 背景技术
焊接机器人是一种机械化可编程的工具，属于工业机器人的一种，其主要作用就是用于焊接，通常有点焊和弧焊两种，能够减少人工劳动力，同时也能够提高工作效率，具备省时省力的功效，焊接机器人在焊接时需要使用到焊条，而焊条就需要焊条夹持机构进行固定，因此焊条夹持机构属于焊接机器人的必要机构；
但是现有的焊接机器人焊条夹持机构在使用时存在着一定的不足之处有待改善，首先，不具备给进功能，在使用时，需要固定在焊条的末端，直至焊条使用完，但是焊条属于细长物体，直接固定在最末端，在焊接过程中容易出现折断的现象，使用效果差；其次，夹紧效果差，容易出现焊条脱落、滑动、侧歪的现象，使用稳定性较差；此外，喂料不方便，在安装焊条的时候，需要对准的精度非常高，导致焊条的安装非常麻烦，使用便捷性差。
 技术问题
本发明的主要目的在于提供一种焊接机器人焊条夹持机构，可以有效解决背景技术中的不具备给进功能，在使用时，需要固定在焊条的末端，直至焊条使用完，但是焊条属于细长物体，直接固定在最末端，在焊接过程中容易出现折断的现象，使用效果差；其次，夹紧效果差，容易出现焊条脱落、滑动、侧歪的现象，使用稳定性较差；此外，喂料不方便，在安装焊条的时候，需要对准的精度非常高，导致焊条的安装非常麻烦，使用便捷性差的技术问题。
 技术解决方案
一种焊接机器人焊条夹持机构，包括固定板，所述固定板的前部一侧位置活动安装有齿轮，所述齿轮的外部固定安装有第一连杆，所述第一连杆的一端通过第一转轴活动安装有夹头板，所述夹头板通过第二转轴活动连接有第二连杆，所述第二连杆的另一端通过第三转轴与固定板活动连接，所述夹头板的侧面顶部位置设有给进机构，所述给进机构包括有第一连轴、第一滚轮、第二连轴、第二滚轮、凹槽和马达，所述夹头板的一侧居中位置设有夹紧机构，所述固定板的前部设有喂料机构，所述喂料机构包括有喂料座、喂料管、固定环、紧固螺丝和斜切面，所述齿轮、第一连杆、第一转轴、夹头板、第二转轴、第二连杆和第三转轴的数量均为两个，两个所述齿轮齿合连接。
作为本发明的进一步方案，所述第一滚轮通过第一连轴活动安装在夹头板的一侧顶部位置，所述第二滚轮通过第二连轴活动安装在夹头板的一侧底部位置，所述凹槽开设在第一滚轮的外表面居中位置，所述马达固定安装在夹头板的后部。
作为本发明的进一步方案，所述马达的数量为两个，两个所述马达的输出轴分别与第一连轴和第二连轴固定连接。
作为本发明的进一步方案，所述给进机构的数量为两组，两组给进机构对称设置。
作为本发明的进一步方案，所述夹紧机构包括有缺槽、气缸、滑板、第一夹块、第二夹块、限位块、夹槽和卡齿，所述缺槽开设在夹头板的一侧表面居中位置，所述气缸贯穿在缺槽的内部，所述滑板滑动连接在缺槽的内侧，所述第一夹块固定安装在滑板的一侧顶部位置，所述第二夹块固定安装在滑板的一侧底部位置，所述限位块固定安装在缺槽的内侧顶部边缘位置，所述夹槽开设在第一夹块的一侧表面居中位置，所述卡齿固定安装在夹槽的内部。
作为本发明的进一步方案，所述所述第二夹块的一侧表面居中位置同样开设有夹槽，所述夹紧机构的数量为两个，两个所述夹紧机构对称设置。
作为本发明的进一步方案，所述喂料座固定安装在固定板的前部顶部位置，所述喂料管固定安装在喂料座的底部，所述固定环通过紧固螺丝固定安装在固定板的前部，且固定环覆盖在喂料管的外部，所述斜切面开设在喂料座的内部底部位置。
作为本发明的进一步方案，所述斜切面与水平方向呈四十五度倾斜，所述喂料管的内部贯穿有焊条。
一种焊接机器人焊条夹持机构的使用方法，该使用方法具体包括以下步骤：
步骤一：首先，通过外部电机带动齿轮转动，齿轮带动第一连杆通过第一转轴转动，而夹头板受到第二转轴和第三转轴与第二连杆的限位，因此齿轮转动的同时，带动两个夹头板相对或者相反方向移动，相对方向移动的时候，将两组给进机构的两个第一滚轮和第二滚轮贴合；
步骤二：手动或者通过外部设备利用喂料机构喂入焊条，操作时，直接将焊条通过喂料座的底部放入，焊条通过斜切面的引导进入到喂料管的内部，通过喂料管进入到两个第一滚轮之间的凹槽的内部；
步骤三：两个马达工作，分别通过第一连轴和第二连轴带动第一滚轮和第二滚轮转动，使得焊条在两个第一滚轮和两个第二滚轮之间移动，完成给进工作，给进到合适位置后马达停止工作；
步骤四：马达停止工作后，气缸工作，两个气缸推动两个滑板分别在两个缺槽的内侧滑动，使得两个第一夹块和两个第二夹块相对方向移动，通过夹槽内侧的卡齿将焊条夹紧固定，通过外部焊接机器人的支臂工作进行操作焊条焊接。
 有益效果
[0005] 通过设置废弃物回收机构，将活动盖打开，把检验中使用的废气药物、垃圾等放置在回收箱的内部，关闭活动盖，使得凸条插入到凹槽的内部，凸条在凹槽的内部挤压密封胶垫，使得凸条和凹槽之间具备很好的密封性，能够方便人们将使用后的废弃化学药剂、带有化学药剂的食品等会对环境造成危害的物品集中回收，携带到检验实验室等指定所进行处理，避免直接丢弃污染环境，更加利于使用；
通过设置给进机构，两个马达工作，分别通过第一连轴和第二连轴带动第一滚轮和第二滚轮转动，使得焊条在两个第一滚轮和两个第二滚轮之间移动，完成给进工作，给进到合适位置后马达停止工作，能够实现自动给进的功效，在使用时，可以持续不断的给进焊条，无需固定在焊条的末端导致焊条在使用时出现折断的现象，提高使用效果；
通过设置夹紧机构，气缸工作，两个气缸推动两个滑板分别在两个缺槽的内侧滑动，使得两个第一夹块和两个第二夹块相对方向移动，通过夹槽内侧的卡齿将焊条夹紧固定，通过外部焊接机器人的支臂工作进行操作焊条焊接，夹紧效果更好，避免在焊接工作过程中焊条出现侧歪、滑动、脱落的现象，稳定性更高；
通过设置喂料机构，将焊条通过喂料座的底部放入，焊条通过斜切面的引导进入到喂料管的内部，通过喂料管进入到两个第一滚轮之间的凹槽的内部，能够方便喂料，无需过高的精度进行安装焊条，大大的提高了焊条安装的便捷性。
 附图说明
图1为本发明一种焊接机器人焊条夹持机构的整体结构示意图；
图2为本发明一种焊接机器人焊条夹持机构的第一滚轮和夹头板仰视图；
图3为本发明一种焊接机器人焊条夹持机构的图1中A的放大图；
图4为本发明一种焊接机器人焊条夹持机构的第一夹块仰视图；
图5为本发明一种焊接机器人焊条夹持机构的喂料座内部结构示意图。
图中：1、固定板；2、齿轮；3、第一连杆；4、第一转轴；5、夹头板；6、第二转轴；7、第二连杆；8、第三转轴；9、给进机构；901、第一连轴；902、第一滚轮；903、第二连轴；904、第二滚轮；905、凹槽；906、马达；10、夹紧机构；1001、缺槽；1002、气缸；1003、滑板；1004、第一夹块；1005、第二夹块；1006、限位块；1007、夹槽；1008、卡齿；11、喂料机构；1101、喂料座；1102、喂料管；1103、固定环；1104、紧固螺丝；1105、斜切面。
 本发明的实施方式
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。
如图1-5所示，一种焊接机器人焊条夹持机构，包括固定板1，固定板1的前部一侧位置活动安装有齿轮2，齿轮2的外部固定安装有第一连杆3，第一连杆3的一端通过第一转轴4活动安装有夹头板5，夹头板5通过第二转轴6活动连接有第二连杆7，第二连杆7的另一端通过第三转轴8与固定板1活动连接，夹头板5的侧面顶部位置设有给进机构9，给进机构9包括有第一连轴901、第一滚轮902、第二连轴903、第二滚轮904、凹槽905和马达906，夹头板5的一侧居中位置设有夹紧机构10，固定板1的前部设有喂料机构11，喂料机构11包括有喂料座1101、喂料管1102、固定环1103、紧固螺丝1104和斜切面1105，齿轮2、第一连杆3、第一转轴4、夹头板5、第二转轴6、第二连杆7和第三转轴8的数量均为两个，两个齿轮2齿合连接；
第一滚轮902通过第一连轴901活动安装在夹头板5的一侧顶部位置，第二滚轮904通过第二连轴903活动安装在夹头板5的一侧底部位置，凹槽905开设在第一滚轮902的外表面居中位置，马达906固定安装在夹头板5的后部；马达906的数量为两个，两个马达906的输出轴分别与第一连轴901和第二连轴903固定连接；给进机构9的数量为两组，两组给进机构9对称设置；夹紧机构10包括有缺槽1001、气缸1002、滑板1003、第一夹块1004、第二夹块1005、限位块1006、夹槽1007和卡齿1008，缺槽1001开设在夹头板5的一侧表面居中位置，气缸1002贯穿在缺槽1001的内部，滑板1003滑动连接在缺槽1001的内侧，第一夹块1004固定安装在滑板1003的一侧顶部位置，第二夹块1005固定安装在滑板1003的一侧底部位置，限位块1006固定安装在缺槽1001的内侧顶部边缘位置，夹槽1007开设在第一夹块1004的一侧表面居中位置，卡齿1008固定安装在夹槽1007的内部；第二夹块1005的一侧表面居中位置同样开设有夹槽1007，夹紧机构10的数量为两个，两个夹紧机构10对称设置；喂料座1101固定安装在固定板1的前部顶部位置，喂料管1102固定安装在喂料座1101的底部，固定环1103通过紧固螺丝1104固定安装在固定板1的前部，且固定环1103覆盖在喂料管1102的外部，斜切面1105开设在喂料座1101的内部底部位置；斜切面1105与水平方向呈四十五度倾斜，喂料管1102的内部贯穿有焊条。
一种焊接机器人焊条夹持机构的使用方法，该使用方法具体包括以下步骤：
步骤一：首先，通过外部电机带动齿轮2转动，齿轮2带动第一连杆3通过第一转轴4转动，而夹头板5受到第二转轴6和第三转轴8与第二连杆7的限位，因此齿轮2转动的同时，带动两个夹头板5相对或者相反方向移动，相对方向移动的时候，将两组给进机构9的两个第一滚轮902和第二滚轮904贴合；
步骤二：手动或者通过外部设备利用喂料机构11喂入焊条，操作时，直接将焊条通过喂料座1101的底部放入，焊条通过斜切面1105的引导进入到喂料管1102的内部，通过喂料管1102进入到两个第一滚轮902之间的凹槽905的内部；
步骤三：两个马达906工作，分别通过第一连轴901和第二连轴903带动第一滚轮902和第二滚轮904转动，使得焊条在两个第一滚轮902和两个第二滚轮904之间移动，完成给进工作，给进到合适位置后马达906停止工作；
步骤四：马达906停止工作后，气缸1002工作，两个气缸1002推动两个滑板1003分别在两个缺槽1001的内侧滑动，使得两个第一夹块1004和两个第二夹块1005相对方向移动，通过夹槽1007内侧的卡齿1008将焊条夹紧固定，通过外部焊接机器人的支臂工作进行操作焊条焊接。
本发明通过设置给进机构9，两个马达906工作，分别通过第一连轴901和第二连轴903带动第一滚轮902和第二滚轮904转动，使得焊条在两个第一滚轮902和两个第二滚轮904之间移动，完成给进工作，给进到合适位置后马达906停止工作，能够实现自动给进的功效，在使用时，可以持续不断的给进焊条，无需固定在焊条的末端导致焊条在使用时出现折断的现象，提高使用效果；通过设置夹紧机构10，气缸1002工作，两个气缸1002推动两个滑板1003分别在两个缺槽1001的内侧滑动，使得两个第一夹块1004和两个第二夹块1005相对方向移动，通过夹槽1007内侧的卡齿1008将焊条夹紧固定，通过外部焊接机器人的支臂工作进行操作焊条焊接，夹紧效果更好，避免在焊接工作过程中焊条出现侧歪、滑动、脱落的现象，稳定性更高；通过设置喂料机构11，将焊条通过喂料座1101的底部放入，焊条通过斜切面1105的引导进入到喂料管1102的内部，通过喂料管1102进入到两个第一滚轮902之间的凹槽905的内部，能够方便喂料，无需过高的精度进行安装焊条，大大的提高了焊条安装的便捷性。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (9)

  1. 一种焊接机器人焊条夹持机构，其特征在于：包括固定板（1），所述固定板（1）的前部一侧位置活动安装有齿轮（2），所述齿轮（2）的外部固定安装有第一连杆（3），所述第一连杆（3）的一端通过第一转轴（4）活动安装有夹头板（5），所述夹头板（5）通过第二转轴（6）活动连接有第二连杆（7），所述第二连杆（7）的另一端通过第三转轴（8）与固定板（1）活动连接，所述夹头板（5）的侧面顶部位置设有给进机构（9），所述给进机构（9）包括有第一连轴（901）、第一滚轮（902）、第二连轴（903）、第二滚轮（904）、凹槽（905）和马达（906），所述夹头板（5）的一侧居中位置设有夹紧机构（10），所述固定板（1）的前部设有喂料机构（11），所述喂料机构（11）包括有喂料座（1101）、喂料管（1102）、固定环（1103）、紧固螺丝（1104）和斜切面（1105），所述齿轮（2）、第一连杆（3）、第一转轴（4）、夹头板（5）、第二转轴（6）、第二连杆（7）和第三转轴（8）的数量均为两个，两个所述齿轮（2）齿合连接。
  2. 根据权利要求1所述的一种焊接机器人焊条夹持机构，其特征在于：所述第一滚轮（902）通过第一连轴（901）活动安装在夹头板（5）的一侧顶部位置，所述第二滚轮（904）通过第二连轴（903）活动安装在夹头板（5）的一侧底部位置，所述凹槽（905）开设在第一滚轮（902）的外表面居中位置，所述马达（906）固定安装在夹头板（5）的后部。
  3. 根据权利要求2所述的一种焊接机器人焊条夹持机构，其特征在于：所述马达（906）的数量为两个，两个所述马达（906）的输出轴分别与第一连轴（901）和第二连轴（903）固定连接。
  4. 根据权利要求1所述的一种焊接机器人焊条夹持机构，其特征在于：所述给进机构（9）的数量为两组，两组给进机构（9）对称设置。
  5. 根据权利要求1所述的一种焊接机器人焊条夹持机构，其特征在于：所述夹紧机构（10）包括有缺槽（1001）、气缸（1002）、滑板（1003）、第一夹块（1004）、第二夹块（1005）、限位块（1006）、夹槽（1007）和卡齿（1008），所述缺槽（1001）开设在夹头板（5）的一侧表面居中位置，所述气缸（1002）贯穿在缺槽（1001）的内部，所述滑板（1003）滑动连接在缺槽（1001）的内侧，所述第一夹块（1004）固定安装在滑板（1003）的一侧顶部位置，所述第二夹块（1005）固定安装在滑板（1003）的一侧底部位置，所述限位块（1006）固定安装在缺槽（1001）的内侧顶部边缘位置，所述夹槽（1007）开设在第一夹块（1004）的一侧表面居中位置，所述卡齿（1008）固定安装在夹槽（1007）的内部。
  6. 根据权利要求5所述的一种焊接机器人焊条夹持机构，其特征在于：所述所述第二夹块（1005）的一侧表面居中位置同样开设有夹槽（1007），所述夹紧机构（10）的数量为两个，两个所述夹紧机构（10）对称设置。
  7. 根据权利要求1所述的一种焊接机器人焊条夹持机构，其特征在于：所述喂料座（1101）固定安装在固定板（1）的前部顶部位置，所述喂料管（1102）固定安装在喂料座（1101）的底部，所述固定环（1103）通过紧固螺丝（1104）固定安装在固定板（1）的前部，且固定环（1103）覆盖在喂料管（1102）的外部，所述斜切面（1105）开设在喂料座（1101）的内部底部位置。
  8. 根据权利要求1所述的一种焊接机器人焊条夹持机构，其特征在于：所述斜切面（1105）与水平方向呈四十五度倾斜，所述喂料管（1102）的内部贯穿有焊条。
  9. 一种采用权利要求1所述的焊接机器人焊条夹持机构的使用方法，其特征在于，该使用方法具体包括以下步骤：
    步骤一：首先，通过外部电机带动齿轮（2）转动，齿轮（2）带动第一连杆（3）通过第一转轴（4）转动，而夹头板（5）受到第二转轴（6）和第三转轴（8）与第二连杆（7）的限位，因此齿轮（2）转动的同时，带动两个夹头板（5）相对或者相反方向移动，相对方向移动的时候，将两组给进机构（9）的两个第一滚轮（902）和第二滚轮（904）贴合；
    步骤二：手动或者通过外部设备利用喂料机构（11）喂入焊条，操作时，直接将焊条通过喂料座（1101）的底部放入，焊条通过斜切面（1105）的引导进入到喂料管（1102）的内部，通过喂料管（1102）进入到两个第一滚轮（902）之间的凹槽（905）的内部；
    步骤三：两个马达（906）工作，分别通过第一连轴（901）和第二连轴（903）带动第一滚轮（902）和第二滚轮（904）转动，使得焊条在两个第一滚轮（902）和两个第二滚轮（904）之间移动，完成给进工作，给进到合适位置后马达（906）停止工作；
    步骤四：马达（906）停止工作后，气缸（1002）工作，两个气缸（1002）推动两个滑板（1003）分别在两个缺槽（1001）的内侧滑动，使得两个第一夹块（1004）和两个第二夹块（1005）相对方向移动，通过夹槽（1007）内侧的卡齿（1008）将焊条夹紧固定，通过外部焊接机器人的支臂工作进行操作焊条焊接。
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