CN113681224A - Flexible positioning device based on six-axis robot - Google Patents
Flexible positioning device based on six-axis robot Download PDFInfo
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- CN113681224A CN113681224A CN202111115010.6A CN202111115010A CN113681224A CN 113681224 A CN113681224 A CN 113681224A CN 202111115010 A CN202111115010 A CN 202111115010A CN 113681224 A CN113681224 A CN 113681224A
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- 238000003466 welding Methods 0.000 claims abstract description 22
- 238000005520 cutting process Methods 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 claims description 12
- 238000009413 insulation Methods 0.000 claims description 12
- 238000007514 turning Methods 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010960 cold rolled steel Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- 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
- B23K37/0443—Jigs
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a flexible positioning device based on a six-axis robot, which relates to the technical field of automobile processing welding and is used for positioning and assisting in vehicle cutting welding of various types of parts.
Description
Technical Field
The invention relates to the technical field of automobile processing and welding, in particular to a flexible positioning device based on a six-axis robot.
Background
The automobile body component is mainly manufactured by assembling and welding cold-rolled steel plate stamping parts with good stamping and welding manufacturability, the welding production batch is large, the production speed is high, the requirements on the assembly and welding precision of welded parts are high, a production mode of flow operation is mostly adopted, the mechanization and automation degree is high, a large amount of special equipment and tool fixtures are adopted, and more welding work is completed by an automatic welding machine and a welding robot.
In the automobile body welding industry, a welding fixture shared by multiple automobile types is used for positioning a datum turning tool, and the existing turning tool mainly adopts two ways at present, namely, according to the states of different automobile types (refer to the attached figure 1 of the specification), the turning tool is changed by utilizing the action of an air cylinder; secondly, performing the cutting by using an NC servo mechanism (refer to the attached figure 2 of the specification); the current turning and cutting mode has the following defects: the turning cutting applicability is poor, the use of multiple vehicle types is difficult to meet, the turning cutting structure is complex, the interference with a welding gun is large, the turning cutting range is limited, the state of the vehicle type with any degree of freedom in a certain range cannot be met, the universality is poor, the fixture is greatly changed and NC turning cutting is utilized for the later-stage guide-in of the vehicle type, the structure is relatively complex, and the turning cutting method is limited to the switching of X, Y, Z three linear motion directions, so that the existing turning cutting mode cannot meet the existing turning cutting production requirement.
Disclosure of Invention
The invention aims to solve the technical defects that the car cutting welding mode in the prior art is poor in applicability, difficult to meet the requirements of multiple vehicle types, poor in universality, complex in structure and incapable of meeting the requirements of the existing car cutting production.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a flexible positioner based on six robots for carry out the welding of location auxiliary vehicle cutting to multiple model part, includes the work base, the last fixed multiaxis robot that is provided with of work base and the location clamping components who sets up at multiaxis robot output end, location clamping components is including fixing the terminal location module of multiaxis robot output and swing joint be in the terminal tight module of clamp and the drive of multiaxis robot output the tight module of clamp is relative the tight module of clamp is the tight drive module of clamp of tight action is done to the location module.
Furthermore, the positioning module comprises a fixing seat fixed with the output end of the multi-axis robot, a positioning plate is fixedly arranged on the fixing seat, a positioning seat is fixedly arranged on one side of the positioning plate, and a positioning pin with an upward direction is arranged on the positioning seat.
Furthermore, press from both sides tight module including fixing the locating plate is kept away from the articulated locating plate of locating seat one side top, articulated locating plate is last to be articulated with pressing from both sides tight piece through first articulated elements, the lower extreme of first articulated elements with articulated locating plate rotates articulatedly, the upper end of first articulated elements with press from both sides tight piece fixed connection.
Furthermore, the clamping block comprises a first clamping block and a second clamping block, the middle of the first clamping block is fixedly connected with the upper end of the first hinged piece, the lower end of the first hinged piece is hinged with the hinged positioning plate in a rotating mode, one end, close to the second clamping block, of the first clamping block is a first connecting end, one end, far away from the second clamping block, of the first clamping block is a power end, and the power end is connected with the clamping driving module in a matched mode.
Furthermore, one end, close to the first clamping block, of the second clamping block is a second connecting end, one end, far away from the first clamping block, of the second clamping block is a clamping end, a clamping seat is arranged on the clamping end, a clamping pin corresponding to the positioning pin is arranged on the clamping seat, and the positioning pin and the clamping pin are used for positioning and clamping the part to be welded.
Furthermore, the first connecting end and the second connecting end are in insulation fixed connection, and the first connecting end and the second connecting end form insulation fixed connection through an insulation pad and an insulation pin.
Furthermore, press from both sides tight drive module and include the electric jar, the electric jar passes through the articulated fixing of second articulated elements the locating plate is kept away from one side of locating pin, the output shaft of electric jar with power end rotation hinge cooperation.
The clamping mechanism further comprises a supporting piece fixedly arranged on the side portion of the positioning plate, a supporting block is correspondingly arranged on the first clamping block, and the supporting piece supports the supporting block when the clamping module and the positioning module form a clamping action.
Furthermore, the device also comprises a sensor which is arranged on the positioning plate and used for detecting whether the part is in place.
Further, the multi-axis robot is a six-axis robot, the six-axis robot includes a first axis, a second axis, a third axis, a fourth axis, a fifth axis, and a sixth axis, the first axis, the second axis, the third axis, the fourth axis, the fifth axis, and the sixth axis form a right turning, cutting and welding change of six degrees of freedom of the positioning and clamping assembly.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a flexible positioning device based on a six-axis robot, which is provided with a working base, the multi-axis robot, a positioning and clamping assembly, a positioning module, a clamping module and a clamping driving module, wherein the multi-axis robot is used for carrying the positioning and clamping assembly to be combined, so that the positioning and clamping assembly can be subjected to vehicle cutting welding with multiple degrees of freedom in space, the clamping driving module is used for driving the clamping module to perform clamping action relative to the positioning module, so that a part to be welded is positioned and clamped, the multi-axis robot is matched, the universality of multi-vehicle type production of a clamp is met, and the clamping requirements of parts of different vehicle types and different plate thicknesses can be met by using the clamping module and the positioning module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a prior art cylinder lathe cutting arrangement;
FIG. 2 is a schematic view of a prior art NC lathe cutting configuration;
FIG. 3 is a schematic view of the installation and use structure of the present invention;
FIG. 4 is a schematic structural view of the present invention;
FIG. 5 is a schematic view of the clamping state of the present invention;
FIG. 6 is a schematic structural view of the present invention in a non-clamping state;
FIG. 7 is a schematic view of the clamping state of the positioning and clamping assembly of the present invention;
FIG. 8 is a structural view of the positioning and clamping assembly of the present invention in a non-clamping state;
fig. 9 is a schematic structural view of the multi-axis robot of the present invention.
In the figure: 1. the robot comprises a working base, a multi-axis robot 21, a first axis, a multi-axis robot 22, a second axis, a multi-axis robot 23, a third axis, a multi-axis robot 24, a fourth axis, a multi-axis robot 25, a fifth axis, a multi-axis robot 26, a multi-axis robot sixth axis, a multi-axis robot 3, a positioning and clamping assembly 310, a fixing seat 311, a positioning seat 312, a positioning seat 313, a positioning pin 314, a hinge positioning plate 315, a first hinge component 316, a first clamping block 3161, a power end 3162, a first connecting end 317, a second clamping block 3171, a second connecting end 3172, a clamping end 318, a clamping seat 319, a clamping pin 319, a 320, an electric cylinder 321, a second hinge component 322, an output shaft 323, a supporting component 324, a supporting component 325, a sensor 326 and an insulating pad.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1-2 show a schematic diagram of the prior art, fig. 3-9 show a schematic diagram of the present invention, and specifically provide a flexible positioning device based on a six-axis robot, which is used for performing positioning-assisted vehicle-cutting welding on various types of parts, and includes a work base 1, a multi-axis robot 2 and a positioning and clamping assembly 3 disposed at an output end of the multi-axis robot 2 are fixedly disposed on the work base 1, and the positioning and clamping assembly 3 includes a positioning module fixed at an output end of the multi-axis robot 2, a clamping module movably connected to the output end of the multi-axis robot 2, and a clamping driving module driving the clamping module to perform clamping operation relative to the positioning module.
The invention provides a flexible positioning device based on a six-axis robot, which is provided with a working base 1, a multi-axis robot 2, a positioning and clamping assembly 3, a positioning module, a clamping module and a clamping driving module, wherein the multi-axis robot 2 is adopted to carry the positioning and clamping assembly 3 to be combined, so that the positioning and clamping assembly 3 can be subjected to vehicle cutting welding with multiple degrees of freedom in space, the clamping driving module is utilized to drive the clamping module to perform clamping action relative to the positioning module, so that the positioning and clamping effects on parts to be welded are formed, the multi-axis robot is matched, the universality of multi-vehicle type production of a clamp is met, and the clamping requirements of parts of different vehicle types and different plate thicknesses can be met by utilizing the clamping module and the positioning module.
Specifically, as shown in the figure, the positioning module includes a fixing base 310 fixed to the output end of the multi-axis robot 2, a positioning plate 311 is fixedly disposed on the fixing base 310, a positioning seat 312 is fixedly disposed on one side of the positioning plate 311, and a positioning pin 313 in an upward direction is disposed on the positioning seat 312. During the use, according to the benchmark position information of different motorcycle types, the multiaxis robot drives location clamping assembly removes to plate department, forms the benchmark location to the plate through locating pin 313, and the sensor senses the plate and targets in place.
Specifically, as shown in the figure, the clamping module includes a hinge positioning plate 314 fixed to a top portion of one side of the positioning plate 311 away from the positioning seat 312, the hinge positioning plate 314 is hinged to the clamping block through a first hinge 315, a lower end of the first hinge 315 is rotatably hinged to the hinge positioning plate 314, and an upper end of the first hinge 314 is fixedly connected to the clamping block. The sensor senses that the plate is in place and forms reference positioning, and the clamping driving module drives the clamping blocks to act as clamping actions to clamp the plate part.
Specifically, as shown in the figure, the clamping block includes a first clamping block 316 and a second clamping block 317, the middle of the first clamping block 316 is fixedly connected to the upper end of the first hinge 314, the lower end of the first hinge 314 is rotatably hinged to the hinge positioning plate 314, one end of the first clamping block 316 close to the second clamping block 317 is a first connection end 3162, one end of the first clamping block 316 far away from the second clamping block 317 is a power end 3161, and the power end 3161 is in fit connection with the clamping driving module. When the clamping device is used, the clamping driving module drives the first clamping block 316 to rotate along a hinge point, so as to drive the second clamping block 317 to rotate synchronously, and when the second clamping block 317 moves close to the positioning pin 313, the clamping action is realized, and the opposite action is realized.
Specifically, as shown in the figure, one end of the second clamping block 317, which is close to the first clamping block 316, is a second connection end 3171, one end of the second clamping block 317, which is far from the first clamping block 316, is a clamping end 3172, a clamping seat 318 is arranged on the clamping end 3172, a clamping pin 319 corresponding to the positioning pin 313 is arranged on the clamping seat 318, and the positioning pin 313 and the clamping pin 319 position and clamp the part to be welded. When the clamping action is performed, the clamping pin 319 and the positioning pin 313 form positioning and clamping on the plate part.
Specifically, as shown in the figure, the first connection end 3162 and the second connection end 3171 are in insulation fixed connection, and the first connection end 3162 and the second connection end 3171 form insulation fixed connection through an insulation pad 326 and an insulation pin. Through setting up insulating connection, effectively break off the electric current that produces among the welding process and servo, guarantee servo's steady operation, effectively reduce the production line fault rate.
Specifically, as shown in the figure, the clamping driving module includes an electric cylinder 320, the electric cylinder 320 is hinged and fixed on a side of the positioning plate 311 away from the positioning pin 313 through a second hinge 321, and an output shaft 322 of the electric cylinder 320 is in pivot fit with the power end 3161.
Specifically, as shown in the figure, the clamping device further includes a supporting member 323 fixedly disposed at a side portion of the positioning plate 311, a supporting block 324 is correspondingly disposed on the first clamping block 316, and when the clamping module and the positioning module form a clamping action, the supporting member 323 supports the supporting block 324.
Specifically, as shown in the figure, the positioning device further includes a sensor 325 disposed on the positioning plate 311 for detecting whether the component is in place.
Specifically, as shown in the figure, the multi-axis robot 2 is a six-axis robot, the six-axis robot includes a first axis 21, a second axis 22, a third axis 23, a fourth axis 24, a fifth axis 25, and a sixth axis 26, and the first axis 21, the second axis 22, the third axis 23, the fourth axis 24, the fifth axis 25, and the sixth axis 26 form a turning and cutting welding with six degrees of freedom to the positioning and clamping assembly 3.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a flexible positioner based on six robots for carry out the welding of location assistance car cutting to multiple model part, includes work base (1), its characterized in that, fixed being provided with multiaxis robot (2) and setting in multiaxis robot (2) location clamping components (3) of exporting the end on work base (1), location clamping components (3) are including fixing multiaxis robot (2) export terminal location module and swing joint in multiaxis robot (2) export terminal presss from both sides tight module and drive it is relative to press from both sides tight module the location module is the tight drive module of clamp of tight action.
2. The flexible positioning device based on the six-axis robot is characterized in that the positioning module comprises a fixed base (310) fixed with the output end of the multi-axis robot (2), a positioning plate (311) is fixedly arranged on the fixed base (310), a positioning seat (312) is fixedly arranged on one side of the positioning plate (311), and an upward positioning pin (313) is arranged on the positioning seat (312).
3. The flexible positioning device based on the six-axis robot of claim 2, wherein the clamping module comprises a hinge positioning plate (314) fixed on the top of one side of the positioning plate (311) far away from the positioning seat (312), the hinge positioning plate (314) is hinged to the clamping block through a first hinge member (315), the lower end of the first hinge member (315) is rotatably hinged to the hinge positioning plate (314), and the upper end of the first hinge member (314) is fixedly connected to the clamping block.
4. The flexible positioning device based on the six-axis robot is characterized in that the clamping blocks comprise a first clamping block (316) and a second clamping block (317), the middle of the first clamping block (316) is fixedly connected with the upper end of the first hinge part (314), the lower end of the first hinge part (314) is rotatably hinged with the hinge positioning plate (314), the end, close to the second clamping block (317), of the first clamping block (316) is a first connection end (3162), the end, far away from the second clamping block (317), of the first clamping block (316) is a power end (3161), and the power end (3161) is in fit connection with the clamping driving module.
5. The six-axis robot-based flexible positioning device according to claim 4, wherein one end of the second clamping block (317) close to the first clamping block (316) is a second connecting end (3171), one end of the second clamping block (317) far away from the first clamping block (316) is a clamping end (3172), a clamping seat (318) is arranged on the clamping end (3172), a clamping pin (319) corresponding to the positioning pin (313) is arranged on the clamping seat (318), and the positioning pin (313) and the clamping pin (319) clamp a part to be welded in a positioning manner.
6. The six-axis robot-based flexible positioning device according to claim 5, wherein the first connection end (3162) and the second connection end (3171) are fixedly connected in an insulation manner, and the first connection end (3162) and the second connection end (3171) are fixedly connected in an insulation manner through an insulation pad (326) and an insulation pin.
7. The flexible positioning device based on six-axis robot is characterized in that the clamping driving module comprises an electric cylinder (320), the electric cylinder (320) is hinged and fixed on one side of the positioning plate (311) far away from the positioning pin (313) through a second hinge (321), and an output shaft (322) of the electric cylinder (320) is in rotary hinged fit with the power end (3161).
8. The flexible positioning device based on six-axis robot as claimed in claim 7, further comprising a support member (323) fixedly disposed at the side of the positioning plate (311), wherein a support block (324) is correspondingly disposed on the first clamping block (316), and the support member (323) supports the support block (324) when the clamping module and the positioning module form a clamping action.
9. The six-axis robot-based flexible positioning device according to claim 8, further comprising a sensor (325) arranged on the positioning plate (311) for detecting whether a part is in place.
10. A six-axis robot based flexible positioning device according to claim 9, characterized in that the multi-axis robot (2) is a six-axis robot comprising a first axis (21), a second axis (22), a third axis (23), a fourth axis (24), a fifth axis (25) and a sixth axis (26), the first axis (21), the second axis (22), the third axis (23), the fourth axis (24), the fifth axis (25) and the sixth axis (26) forming a car-cut weld with six degrees of freedom to the positioning and clamping assembly (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111115010.6A CN113681224A (en) | 2021-09-23 | 2021-09-23 | Flexible positioning device based on six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111115010.6A CN113681224A (en) | 2021-09-23 | 2021-09-23 | Flexible positioning device based on six-axis robot |
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| CN113681224A true CN113681224A (en) | 2021-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111115010.6A Pending CN113681224A (en) | 2021-09-23 | 2021-09-23 | Flexible positioning device based on six-axis robot |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057232A (en) * | 2014-06-30 | 2014-09-24 | 长城汽车股份有限公司 | Clamping device for rear cross beam of rear subframe |
| CN207058558U (en) * | 2017-08-25 | 2018-03-02 | 安徽辉科智能机器人自动化有限公司 | Six joint industrial robots |
| CN108161304A (en) * | 2017-12-27 | 2018-06-15 | 广州德恒汽车装备科技有限公司 | A kind of linkage of Unit four multiaxis flexible positioning system |
| CN108927620A (en) * | 2018-07-12 | 2018-12-04 | 上海颉森汽车装备有限公司 | Weld positioning mechanism |
| CN109262172A (en) * | 2018-11-13 | 2019-01-25 | 滁州学院 | A kind of automobile body-in-white skeleton station robot piece uploading flexible welding positioning tool |
| CN209887600U (en) * | 2019-04-30 | 2020-01-03 | 浙江绿视野智能科技有限公司 | A manipulator for auto repair |
| CN211192708U (en) * | 2019-12-28 | 2020-08-07 | 郑州信昌汽车部品有限公司 | High-precision positioning welding fixture with gas filtering device |
| CN213646403U (en) * | 2020-09-11 | 2021-07-09 | 广州丰桥智能装备有限公司 | Carrying and welding integrated manipulator |
-
2021
- 2021-09-23 CN CN202111115010.6A patent/CN113681224A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057232A (en) * | 2014-06-30 | 2014-09-24 | 长城汽车股份有限公司 | Clamping device for rear cross beam of rear subframe |
| CN207058558U (en) * | 2017-08-25 | 2018-03-02 | 安徽辉科智能机器人自动化有限公司 | Six joint industrial robots |
| CN108161304A (en) * | 2017-12-27 | 2018-06-15 | 广州德恒汽车装备科技有限公司 | A kind of linkage of Unit four multiaxis flexible positioning system |
| CN108927620A (en) * | 2018-07-12 | 2018-12-04 | 上海颉森汽车装备有限公司 | Weld positioning mechanism |
| CN109262172A (en) * | 2018-11-13 | 2019-01-25 | 滁州学院 | A kind of automobile body-in-white skeleton station robot piece uploading flexible welding positioning tool |
| CN209887600U (en) * | 2019-04-30 | 2020-01-03 | 浙江绿视野智能科技有限公司 | A manipulator for auto repair |
| CN211192708U (en) * | 2019-12-28 | 2020-08-07 | 郑州信昌汽车部品有限公司 | High-precision positioning welding fixture with gas filtering device |
| CN213646403U (en) * | 2020-09-11 | 2021-07-09 | 广州丰桥智能装备有限公司 | Carrying and welding integrated manipulator |
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Application publication date: 20211123 |
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