CN107639360B - Automatic clamping mechanism of robot welding accurate positioning - Google Patents
Automatic clamping mechanism of robot welding accurate positioning Download PDFInfo
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- CN107639360B CN107639360B CN201710821306.7A CN201710821306A CN107639360B CN 107639360 B CN107639360 B CN 107639360B CN 201710821306 A CN201710821306 A CN 201710821306A CN 107639360 B CN107639360 B CN 107639360B
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Abstract
The invention provides an automatic clamping mechanism for robot welding accurate positioning, which comprises: a work table; the fixed seat is fixedly arranged on the workbench and is provided with a vertical positioning hole; the installation rotary table is detachably arranged on the fixed seat, and a lateral positioning hole is formed in the installation rotary table; the vertical positioning mechanism is arranged on the installation rotary table, corresponds to the vertical positioning hole and can be arranged in the vertical positioning hole in a penetrating way; and the lateral positioning mechanism is arranged on the fixed seat, corresponds to the lateral positioning hole and can be arranged in the lateral positioning hole in a penetrating way. The invention has the beneficial effects that: the automatic mold locking mechanism is high in mold changing precision, less in mold changing time and convenient to operate.
Description
Technical Field
The invention belongs to the technical field of robot welding equipment, and relates to an automatic clamping mechanism for accurate positioning of robot welding.
Background
The robot welding equipment is efficient welding equipment, and comprises an installation turntable and a tooling die needing to be installed on the turntable, wherein the tooling die is a robot welding jig.
In the daily production process, the use frequency of the tooling die is very high, and the die change process often takes a long time, so that the production is delayed; and use frock mould at present for the welding tool of robot, so its weight is very big, generally is more than 300KG, so very troublesome during the retooling, need 2-3 personnel to carry out the retooling together to need to promote the tool and aim at the pinhole and carry out the hand bolt when the retooling, lock 4M 16 screws and lock again and die, need personnel many, long time, the retooling is difficult.
Except that the difficulty of replacing the tooling die is higher, the installation precision is lower, and once the tooling die is replaced, the die replacement precision is lower, so that the welding path deviation of the robot can be caused, and the welding effect is seriously influenced.
Therefore, an automatic mold locking mechanism with high mold changing precision, less mold changing time and convenient operation is needed at present.
Disclosure of Invention
The invention aims to provide an automatic clamping mechanism for robot welding accurate positioning, aiming at the problems in the prior art.
The purpose of the invention can be realized by the following technical scheme: the utility model provides an automatic clamping mechanism of robot welding accurate positioning, includes:
a work table;
the fixed seat is fixedly arranged on the workbench and is provided with a vertical positioning hole;
the installation rotary table is detachably arranged on the fixed seat, and a lateral positioning hole is formed in the installation rotary table;
the vertical positioning mechanism is arranged on the installation rotary table, corresponds to the vertical positioning hole and can be arranged in the vertical positioning hole in a penetrating way;
and the lateral positioning mechanism is arranged on the fixed seat, corresponds to the lateral positioning hole and can be arranged in the lateral positioning hole in a penetrating way.
Preferably, the fixing base comprises a bottom plate, a vertical plate and a table board, the bottom plate is fixedly arranged on the workbench, the vertical plate is vertically fixed on the bottom plate, the table board is fixed on the vertical plate, a side hole for the lateral positioning mechanism to pass through is formed in the vertical plate, and the vertical positioning hole is formed in the table board.
Preferably, the installation turntable comprises an installation disc and a connection block connected with the installation disc, and the lateral positioning hole is formed in the connection block.
Preferably, the vertical positioning mechanism includes a first cylinder and a first positioning pin, the first positioning pin is fixed on the piston rod of the first cylinder, the first cylinder is fixed on the connecting block, and the piston rod of the first cylinder can drive the first positioning pin to penetrate into the vertical positioning hole.
Preferably, the lateral positioning mechanism includes a second cylinder and a second positioning pin, the second positioning pin is fixed to the piston rod of the second cylinder, the second cylinder is fixed to the vertical plate, and the piston rod of the second cylinder can drive the second positioning pin to pass through the side hole and the lateral positioning hole.
Preferably, the number of the fixed seats and the number of the installation turntables are two, and the fixed seats and the installation turntables are respectively installed at two ends of the workbench.
Preferably, the vertical positioning hole on the fixing seat on one side is a waist hole, and the vertical positioning hole on the fixing seat on the other side is a round hole.
Preferably, one connecting block corresponds to two lateral positioning holes, and the two lateral positioning holes are respectively located at two sides of the connecting block.
Preferably, the second cylinder body is provided with a pneumatic quick connector.
Preferably, the first positioning pin and the second positioning pin are both in a conical structure.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic mold locking mechanism is high in mold changing precision, less in mold changing time and convenient to operate.
2. The structure of fixing base is very ingenious, and the bottom plate plays the effect fixed with the workstation, and vertical board plays and connects the deck plate, bears the weight of installation revolving stage and provides the effect of installation position for side direction positioning mechanism, and the deck plate plays and bears the weight of installation revolving stage and supplies the effect of vertical positioning mechanism location.
3. The lateral positioning hole is arranged on the inner side of the connecting block, so that the purpose of lateral locking and positioning can be realized.
4. The vertical positioning mechanism comprises a first cylinder body and a first positioning pin, and when the first cylinder body is started, the piston rod extends upwards, so that the first positioning pin penetrates through the vertical positioning hole, the front, back, left and right freedom degrees of the installation rotary table can be limited, and the mold locking positioning effect of four freedom degrees is realized.
5. The lateral positioning mechanism comprises a second cylinder body and a second positioning pin, the second cylinder body is started, the piston rod extends towards the outer side, and therefore the second positioning pin penetrates through the upper side hole of the vertical plate and finally penetrates into the lateral positioning hole, the upper degree of freedom and the lower degree of freedom can be locked, and the effect of thoroughly locking all degrees of freedom of the rotary table can be achieved when the lateral positioning mechanism is matched with the vertical positioning mechanism.
Drawings
FIG. 1 is a side view of the robotic welding precision positioning automatic clamping mechanism of the present invention;
FIG. 2 is a schematic structural diagram of the robot welding accurate positioning automatic clamping mechanism of the present invention;
FIG. 3 is a schematic structural view of the vertical positioning mechanism of the present invention;
fig. 4 is a schematic structural diagram of the lateral positioning mechanism of the present invention.
In the figure, 100, a workbench; 200. a fixed seat; 210. vertically positioning the hole; 220. a base plate; 230. a vertical plate; 240. a table top plate; 300. installing a rotary table; 310. a lateral positioning hole; 320. mounting a disc; 330. connecting blocks; 400. a vertical positioning mechanism; 410. a first cylinder; 420. a first positioning pin; 500. a lateral positioning mechanism; 510. a second cylinder; 511. a pneumatic quick connector; 520. and a second positioning pin.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, an automatic clamping mechanism for precise positioning of robot welding is applied to the installation and positioning of a robot welding jig, and comprises: workstation 100, fixing base 200, installation revolving stage 300, vertical positioning mechanism 400 and side direction positioning mechanism 500 through foretell automatic clamping mechanism, can realize the effect of accurate positioning, and the repeated precision is not more than 0.1mm after the retooling to can fix a position the locking to the frock mould that weight is more than 300KG, it is worth pointing out here, foretell frock mould is robot welding jig.
The workbench 100 is a rectangular table structure, and is mainly used for bearing the fixing base 200 and the installation turntable 300 on the fixing base 200.
The fixing base 200 is fixedly disposed on the working table 100 and located at the side end of the working table 100, the fixing base 200 is provided with a vertical positioning hole 210, and the vertical positioning hole 210 is vertically disposed on the fixing base 200 and is used for cooperating with the vertical positioning mechanism 400, so as to limit the freedom degree of the installation of the rotary table 300.
The installation turntable 300 is a part for installing a tooling die, and is detachably disposed on the fixed seat 200, and the installation turntable 300 is provided with a lateral positioning hole 310.
Specifically, the tooling is installed on the installation turntable 300, and then the installation turntable 300 is locked on the fixing base 200 by the vertical positioning mechanism 400 and the lateral positioning mechanism 500, thereby completing the mold locking installation process.
The vertical positioning mechanism 400 is a mechanism for limiting four degrees of freedom of the installation turntable 300 in the front, rear, left, and right directions, and is provided on the installation turntable 300, and the vertical positioning mechanism 400 corresponds to the vertical positioning hole 210 and is insertable into the vertical positioning hole 210.
It should be noted here that the positioning principle of the vertical positioning mechanism 400 is a principle of positioning by pin hole penetration, and when the vertical positioning mechanism 400 is inserted into the vertical positioning hole 210, the entire installation turntable 300 can only move up and down along the axial direction of the vertical positioning hole 210, and four degrees of freedom are locked in front, back, left, and right directions.
The lateral positioning mechanism 500 is a mechanism for limiting the degree of freedom of the installation turntable 300, and is disposed on the fixing base 200, and the lateral positioning mechanism 500 corresponds to the lateral positioning hole 310 and can be inserted into the lateral positioning hole 310.
It should be noted here that the lateral positioning mechanism 500 is also based on the principle of pin hole through positioning, and when the lateral positioning mechanism 500 is inserted into the lateral positioning hole 310, the vertical positioning mechanism 400 is locked by four degrees of freedom, namely, front, rear, left, and right degrees of freedom, and the lateral positioning mechanism 500 is locked by up and down degrees of freedom, so that the installation turntable 300 can be locked on the fixing base 200 through over positioning, thereby achieving the purpose of mold locking.
In the in-service use process, through the dead structure of the mistake location lock that lateral positioning mechanism 500 and vertical positioning mechanism 400 constitute to thoroughly fix installation revolving stage 300 on fixing base 200, just so can fix a position the mode locking with robot welding jig fast accurately, thereby need artifical dead shortcoming of screw lock with the screw when having overcome traditional retooling operation, it is very convenient when the location, whole process is all very swift.
As shown in fig. 1, 2, 3 and 4, on the basis of the above embodiment, the fixing base 200 includes a bottom plate 220, a vertical plate 230 and a table top 240, and the fixing base 200 has two functions, namely, a first function of installing the lateral positioning mechanism 500 and a second function of connecting the workbench 100 with the installation turntable 300.
The bottom plate 220 is fixedly disposed on the workbench 100, the vertical plate 230 is vertically fixed on the bottom plate 220, the table panel 240 is fixed on the vertical plate 230, in short, the table panel 240 is in a long shape and is located on the upper side of the bottom plate 220, the two are disposed in parallel, the bottom end of the vertical plate 230 is fixedly connected with the bottom plate 220, and the upper end of the vertical plate 230 is fixedly connected with the table panel 240.
It is worth pointing out here that the bottom plate 220 plays a role of fixing with the work table 100, the vertical plate 230 plays a role of connecting the table panel 240, carrying the mounting turntable 300, and providing a mounting position for the lateral positioning mechanism 500, and the table panel 240 plays a role of carrying the mounting turntable 300, and providing a positioning for the vertical positioning mechanism 400.
A side hole for the lateral positioning mechanism 500 to pass through is formed on the vertical plate 230; the lateral positioning mechanism 500 may pass through the vertical plate 230 to connect with the lateral positioning hole 310; the vertical positioning hole 210 is disposed on the platform 240 for the vertical positioning mechanism 400 to pass through.
As shown in fig. 1, 2 and 4, on the basis of the above embodiment, the mounting turntable 300 includes a mounting plate 320 and a connecting block 330 connected to the mounting plate 320, wherein the mounting plate 320 is used for mounting a tooling mold, and the connecting block 330 is used for connecting the mounting plate 320 and the fixing base 200.
The lateral positioning holes 310 are formed in the connecting block 330, and it is worth pointing out here that the mounting plate 320 is located on the outer side of the connecting block 330, and the lateral positioning holes 310 are formed on the inner side of the connecting block 330, so that the purpose of lateral locking positioning can be achieved.
As shown in fig. 1, 2 and 3, in addition to the above embodiments, the vertical positioning mechanism 400 includes a first cylinder 410 and a first positioning pin 420, wherein the first cylinder 410 may preferably be an air cylinder mechanism, but is not limited to an air cylinder structure as long as the telescopic effect of the air cylinder or the hydraulic cylinder can be achieved, and the first positioning pin 420 is inserted into the vertical positioning hole 210 to perform a positioning and locking function.
The first positioning pin 420 is fixed on the piston rod of the first cylinder 410, the first cylinder 410 is fixed on the connecting block 330, and the piston rod of the first cylinder 410 can drive the first positioning pin 420 to penetrate into the vertical positioning hole 210.
In the actual use process, the first cylinder 410 is started, and the piston rod extends upwards, so that the first positioning pin 420 penetrates through the vertical positioning hole 210, the front, back, left and right degrees of freedom of the installation turntable 300 can be limited, and the mold locking positioning effect with four degrees of freedom can be realized.
As shown in fig. 1, 2 and 4, in addition to the above embodiment, the lateral positioning mechanism 500 includes a second cylinder 510 and a second positioning pin 520, wherein the second cylinder 510 may preferably be an air cylinder mechanism, but is not limited to an air cylinder structure as long as the telescopic effect of the air cylinder or the hydraulic cylinder can be achieved, and the second positioning pin 520 is inserted into the lateral positioning hole 310 to perform a positioning and locking function.
It should be noted here that the number of the lateral positioning mechanisms 500 may be more than one, or two, that is, on one fixing base 200, a plurality of lateral positioning mechanisms 500 may be provided, so as to bear more weight.
The second positioning pin 520 is fixed on the piston rod of the second cylinder 510, the second cylinder 510 is fixed on the vertical plate 230, and the piston rod of the second cylinder 510 can drive the second positioning pin 520 to pass through the side hole and the lateral positioning hole 310.
In the actual use process, the second cylinder 510 is started, and the piston rod extends towards the outside, so that the second positioning pin 520 penetrates through the upper side hole of the vertical plate 230 and finally penetrates into the lateral positioning hole 310, so that the upper and lower degrees of freedom can be locked, and if the vertical positioning mechanism 400 is matched with the vertical positioning mechanism, the effect of completely locking all degrees of freedom of the installation turntable 300 can be achieved.
As shown in fig. 1 and 2, in the above embodiment, the number of the fixed base 200 and the installation turntable 300 is two, and the fixed base and the installation turntable are respectively installed at both ends of the table 100.
In an actual product, two ends of the tooling die are respectively fixed on the installation turntable 300, and then are positioned and locked on the fixed seat 200.
As shown in fig. 2, in the above embodiment, the vertical positioning hole 210 on one side of the fixing base 200 is a waist hole, and the vertical positioning hole 210 on the other side of the fixing base 200 is a circular hole.
The waist hole is actually similar to an oval hole, in brief, the vertical positioning hole 210 of the waist hole structure can only limit two degrees of freedom in the left and right directions, and the vertical positioning hole 210 of the round hole structure limits four degrees of freedom in the front, back, left and right directions, so that the accurate positioning effect is realized; it should be noted here that this design can compensate for the margin provided during the mold locking, so as to avoid the situation that the two-side fixing base 200 cannot be locked vertically at the same time.
As shown in fig. 2, on the basis of the above embodiment, one connecting block 330 corresponds to two lateral positioning holes 310, and the two lateral positioning holes 310 are respectively located at two sides of the connecting block 330.
As shown in fig. 4, in addition to the above-described embodiment, the second cylinder 510 is provided with a pneumatic quick-connect connector 511, and the second cylinder 510 can be activated when an air tube is inserted into the quick-connect connector.
In an actual structure, the air cylinders of the second air cylinders with the opposite corners on the two sides use the pneumatic control one-way valve, so that when the air source is cut off, the air inlet connector of the air cylinder is the pneumatic control one-way valve to keep air pressure, the electric detection is free of air pressure alarm, and the situation that the second positioning pin 520 is withdrawn due to air pressure leakage after the air source is cut off is prevented.
As shown in fig. 3 and 4, in the above embodiment, the first positioning pin 420 and the second positioning pin 520 are both tapered, so that the pin holes can be fitted more tightly, and there is no gap between the upper, lower, front, rear, left, and right sides when the pressure is maintained.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (2)
1. The utility model provides an automatic clamping mechanism of robot welding accurate positioning which characterized in that includes:
a work table;
the fixed seat is fixedly arranged on the workbench and is provided with a vertical positioning hole;
the installation rotary table is detachably arranged on the fixed seat, and a lateral positioning hole is formed in the installation rotary table;
the number of the fixed seats and the number of the installation turntables are two, and the fixed seats and the installation turntables are respectively installed at two ends of the workbench;
the vertical positioning hole on the fixed seat at one side is a waist hole, and the vertical positioning hole on the fixed seat at the other side is a round hole;
the vertical positioning mechanism is arranged on the installation rotary table, corresponds to the vertical positioning hole and can be arranged in the vertical positioning hole in a penetrating way;
the lateral positioning mechanism is arranged on the fixed seat, corresponds to the lateral positioning hole and can be arranged in the lateral positioning hole in a penetrating way;
the fixed seat comprises a bottom plate, a vertical plate and a table top plate, the bottom plate is fixedly arranged on the workbench, the vertical plate is vertically fixed on the bottom plate, the table top plate is fixed on the vertical plate, the vertical plate is provided with a side hole for the lateral positioning mechanism to pass through, and the vertical positioning hole is arranged on the table top plate;
the installation rotary table comprises an installation disc and connecting blocks connected with the installation disc, the lateral positioning holes are formed in the connecting blocks, one connecting block corresponds to two lateral positioning holes, and the two lateral positioning holes are located on two sides of the connecting block respectively;
the vertical positioning mechanism comprises a first cylinder body and a first positioning pin, the first positioning pin is fixed on a piston rod of the first cylinder body, the first cylinder body is fixed on the connecting block, and the piston rod of the first cylinder body can drive the first positioning pin to penetrate into the vertical positioning hole;
the lateral positioning mechanism comprises a second cylinder body and a second positioning pin, the second positioning pin is fixed on a piston rod of the second cylinder body, the second cylinder body is fixed on the vertical plate, the piston rod of the second cylinder body can drive the second positioning pin to penetrate through the side hole and the lateral positioning hole, and a pneumatic quick connector is arranged on the second cylinder body.
2. The robotic weld accurate position automatic clamping mechanism as claimed in claim 1, wherein: the first positioning pin and the second positioning pin are both in a conical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710821306.7A CN107639360B (en) | 2017-09-13 | 2017-09-13 | Automatic clamping mechanism of robot welding accurate positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710821306.7A CN107639360B (en) | 2017-09-13 | 2017-09-13 | Automatic clamping mechanism of robot welding accurate positioning |
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| CN107639360A CN107639360A (en) | 2018-01-30 |
| CN107639360B true CN107639360B (en) | 2020-01-03 |
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| CN201710821306.7A Active CN107639360B (en) | 2017-09-13 | 2017-09-13 | Automatic clamping mechanism of robot welding accurate positioning |
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| CN107639360A (en) | 2018-01-30 |
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