CN211638804U

CN211638804U - Robot welding tool

Info

Publication number: CN211638804U
Application number: CN201922344575.6U
Authority: CN
Inventors: 刘朝; 刘荣; 刘金普
Original assignee: HANGZHOU HONGLI MACHINERY MANUFACTURING CO LTD
Current assignee: HANGZHOU HONGLI MACHINERY MANUFACTURING CO LTD
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-10-09
Anticipated expiration: 2029-12-24

Abstract

The utility model provides a robot welding frock, welding frock installs on the output shaft of machine of shifting, including frock frame and locating pin, the locating pin includes first preceding locating pin and second preceding locating pin, be equipped with on the frock frame the mounting groove of work piece, the mounting groove is used for installing the work piece, and when the machine of shifting drove frock frame and rotated 20~70 degrees left, under the effect of work piece gravity, the work piece pasted tight left locating pin, and the main shaft of die clamping cylinder drove the die clamping push rod and promotes the work piece and move forward and press from both sides tightly on first preceding locating pin and second preceding locating pin to realize under the effect of work piece self gravity and press from both sides tight work piece the accurate positioning of work piece, the welding mouth that both ends and lower extreme set up about the frock frame is convenient for robot welder to stretch into and carries out welding process to the work piece; the right end of the tool frame is further provided with a right positioning pin, so that the workpiece can be conveniently secondarily positioned through gravity and a clamping cylinder.

Description

Robot welding tool

Technical Field

The utility model relates to the field of welding technique, especially, relate to a robot welding frock.

Technical Field

Welding robot's welding stability is high, welding quality is high, and wide application has each manufacturing field, and welding robot generally uses with machine of shifting and welding frock cooperation, improvement welding efficiency and welding quality that a welding frock of good design can be very big. The traditional welding tool cannot meet the requirements of the automatic welding tool on positioning accuracy and relative positions of welding seams, after a workpiece is clamped, particularly a forklift oil tank cannot complete automatic welding of the welding seams of the workpiece, and after the pose of the workpiece needs to be adjusted for many times, a welding robot is used for welding.

Disclosure of Invention

In order to solve the technical problem, the robot welding tool capable of automatically positioning is provided, and the robot welding tool is positioned by utilizing the self gravity of a workpiece.

A robot welding tool is installed on an output shaft of a positioner and comprises a tool frame and a positioning pin, wherein the tool frame is provided with an installation groove, the positioning pin comprises a left positioning pin, a first front positioning pin and a second front positioning pin, a left positioning support and a right positioning support are respectively installed on the left side and the right side of the front end of the tool frame, a left positioning rod is arranged at the rear end of the left positioning support, a left positioning pin is arranged at the right end of the left positioning rod, a first front positioning rod is arranged on the right side of the left positioning support, and a first front positioning pin is arranged at the rear end of the first front positioning rod; a second front positioning rod is arranged on the left side of the right positioning bracket, and a second front positioning pin is arranged at the rear end of the second front positioning rod; the tool rack is characterized in that a clamping cylinder is arranged at the rear end of the mounting groove, a main shaft of the clamping cylinder extends forwards, a clamping push rod is arranged on the main shaft of the clamping cylinder, and welding openings communicated with the mounting groove are respectively formed in the lower end and the left end and the right end of the tool rack.

Preferably, the upper end of the rear side wall of the mounting groove is provided with a swing arm cylinder, the main shaft of the swing arm cylinder extends towards the left side or the right side, and the main shaft of the swing arm cylinder is provided with a swing arm extending forwards.

Preferably, the utility model discloses still including pressing from both sides cover and mount pad, it fixes to press from both sides the cover on the main shaft of swing arm cylinder, it is equipped with the swivelling chute to press from both sides the cover outer end, mount pad one end articulates in the swivelling chute, the mount pad other end with swing arm fixed connection.

Preferably, the first front positioning rod is longitudinally arranged, the first front positioning rod is fixedly connected with the left positioning support through a connecting rod, and first front positioning pins are respectively arranged on the upper side and the lower side of the first front positioning rod.

Preferably, the second front positioning rod is longitudinally arranged and connected with the right positioning bracket through a connecting rod, and second front positioning pins are respectively arranged on the upper side and the lower side of the second front positioning rod.

Preferably, the mounting groove rear side wall is provided with at least two clamping cylinders, and the clamping cylinders are uniformly distributed on the mounting groove rear side wall.

Preferably, a right positioning rod is arranged at the rear end of the right positioning support, a right positioning pin is arranged at the left end of the right positioning rod, and the distance between the left positioning pin and the right positioning pin is greater than the width of the corresponding part of the workpiece.

Preferably, the rear end of the tool frame is provided with a mounting hole, a flange plate is arranged on the mounting hole, a threaded hole is formed in the flange plate, and the flange plate is fixed on an output shaft of the positioner through a bolt.

Compared with the prior art, the beneficial effects of the utility model are that: 1. the mounting groove is used for mounting a workpiece, when the positioner drives the tool frame to rotate left by 20-70 degrees, the workpiece is tightly attached to the left positioning pin under the action of the gravity of the workpiece, the main shaft of the clamping cylinder drives the clamping push rod to push the workpiece to move forward and clamp the first front positioning pin and the second front positioning pin, so that the workpiece is accurately positioned under the action of the gravity of the workpiece and the action of clamping the workpiece, and the welding port is convenient for a robot welding gun to stretch into the workpiece for welding; 2. after the workpiece is positioned, the swing arm cylinder extends a swing arm to the upper part of the workpiece, so that the workpiece is prevented from falling from the opening end of the tool rack when the air pressure of the clamping cylinder is insufficient, and the effect of safety protection is achieved; 3. one end of the mounting seat is hinged in the rotating groove, the other end of the mounting seat is fixedly connected with the swing arm, and the swing arm is accommodated at the rear end of the tool rack by pushing the swing arm, so that the workpiece and the tool rack can be conveniently adjusted, and the applicability is improved; 4. when the workpiece is tightly attached to the left positioning pin, the left positioning pin plays a role in steric hindrance, the left end face of the workpiece cannot be welded at one time during welding of the robot, the position and the posture need to be adjusted, the right end face can be completely welded at one time, the tool frame is rotated to-20 to-70 degrees, the clamping cylinder is loosened, the workpiece is tightly attached to the right positioning pin under the action of self gravity, the workpiece is secondarily positioned to the right positioning pin through gravity and the clamping cylinder, the left end face is not limited by steric hindrance, and complete welding can be completed at one time.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic view of a workpiece mounting arrangement;

FIG. 3 is a schematic view of a swing arm structure;

FIG. 4 is a top view of the tool rack;

fig. 5 is a flow chart of a welding method.

In the drawings, the reference numbers: 1-a tooling frame, 2-a left positioning bracket, 21-a left positioning pin, 22-a left positioning rod, 23-a first front positioning rod, 24-a first front positioning pin, 3-a right positioning bracket, 31-a right positioning pin, 32-a right positioning rod, 33-a second front positioning rod, 34-a second front positioning pin, 4-a clamping cylinder, 41-a clamping push rod, 5-a swing arm cylinder, 51-a swing arm, 52-a jacket, 53-a mounting seat, 6-a flange plate, 8-a workpiece, 9-a positioner, 91-an output shaft and 10-a reinforcing rib.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

Example 1

The utility model provides a robot welding tool, as shown in fig. 1-5, install on the output shaft 91 of machine 9 that shifts, including frock frame 1 and locating pin, the locating pin includes left locating pin 21, first front locating pin 24 and second front locating pin 34, be equipped with the mounting groove of work piece 8 on frock frame 1, left locating support 2 and right locating support 3 are installed respectively to the left and right sides of frock frame 1 front end, left locating support 2 rear end is equipped with left locating lever 22, left locating lever 22 right-hand member is equipped with left locating pin 21, left locating support 2 right side is equipped with first front locating lever 23, first front locating lever 23 rear end is equipped with first front locating pin 24; a second front positioning rod 33 is arranged on the left side of the right positioning bracket 3, and a second front positioning pin 34 is arranged at the rear end of the second front positioning rod 33; the tool rack is characterized in that a clamping cylinder 4 is arranged at the rear end of the mounting groove, a main shaft of the clamping cylinder 4 extends forwards, a clamping push rod 41 is arranged on the main shaft of the clamping cylinder 4, and welding openings communicated with the mounting groove are respectively formed in the lower end and the left end and the right end of the tool rack 1. The mounting groove is used for installing a workpiece, and when the positioner drives the tool rack to rotate 20-70 degrees left, under the effect of workpiece gravity, the workpiece is attached to a left positioning pin, and the main shaft of the clamping cylinder drives the clamping push rod to push the workpiece to move forward and clamp the workpiece on the first front positioning pin and the second front positioning pin, so that the workpiece is accurately positioned under the effect of the self gravity of the workpiece and the thrust of the clamping cylinder, and a welding port is convenient for a robot to stretch a welding gun into the workpiece to perform welding processing.

The welding method adopting the robot welding tool comprises the following steps as shown in fig. 5:

step 101: and putting a workpiece into the mounting groove, and controlling the tool frame to rotate to 20-70 degrees by the position changer so that the workpiece is tightly attached to the bottom end of the mounting groove and the left positioning pin. The welding frock of robot inclines an angle to the left side, the work piece slides to one side under the effect of self gravity, pastes tight left locating pin, and the angle of rotation can be 20~70 degrees, preferred 45 degrees. The utility model discloses in rotation angle uses rotation center level right as originated horizontal position, and the positive value represents anticlockwise rotation, and the negative value represents clockwise rotation.

Step 102: the clamping cylinder pushes the workpiece forwards, so that the front end of the workpiece is attached to the first front positioning pin and the second front positioning pin. The workpiece is positioned in the clamping process, and the workpiece is positioned at the bottom end of the mounting groove, the left positioning pin, the first front positioning pin and the second front positioning pin simultaneously so as to improve the positioning accuracy of the workpiece.

Step 103: and restoring the tool rack to a horizontal position, and welding the upper end face of the workpiece by the robot.

Step 109: and sequentially rotating the tool frame by 90 degrees, and finishing the welding of the corresponding surfaces of the workpieces by the robot. The welding may be performed sequentially in a clockwise direction or may be performed sequentially in a counterclockwise direction.

Step 108: and (4) restoring the tool frame and the workpiece to the horizontal position, loosening the workpiece by the clamping cylinder, and dismounting the workpiece to finish the welding process.

The upper end of the rear side wall of the mounting groove can be provided with a swing arm cylinder 5, the main shaft of the swing arm cylinder 5 extends towards the left side or the right side, and the main shaft of the swing arm cylinder 5 is provided with a swing arm 51 extending forwards. After the workpiece is positioned, the swing arm cylinder 5 can extend the swing arm 51 to the upper part of the workpiece, so that the workpiece is prevented from falling from the opening end of the tool rack when the air pressure of the clamping cylinder is insufficient, and the effect of safety protection is achieved; the swing arm can also extend above the workpiece after the welding of the upper end face of the workpiece is finished.

The control method of the swing arm comprises the following steps:

after welding the upper end face of the workpiece, the robot pulls the swing arm to the position above the workpiece;

after the tool frame and the workpiece are restored to the horizontal position, the swing arm is pushed away from the upper part of the workpiece, and the clamping cylinder loosens the workpiece and unloads the workpiece.

The mounting groove rear side wall upper end left and right sides can be equipped with the swing arm cylinder respectively, the main shaft of swing arm cylinder extends to the outside, improves the safety protection power.

The utility model discloses can also include and press from both sides cover 52 and mount pad 53, it fixes to press from both sides cover 52 on the main shaft of swing arm cylinder, it is equipped with the swivelling chute to press from both sides cover 52 outer end, mount pad 53 one end articulates in the swivelling chute, the mount pad other end with swing arm 51 fixed connection. Will through promoting the swing arm is accomodate in the rear end of frock frame, is convenient for adjust work piece and frock frame, improves the suitability.

The first front positioning rod can be longitudinally arranged and is connected with the left positioning support through a connecting rod, and first front positioning pins are respectively arranged on the upper side and the lower side of the first front positioning rod. Two first front positioning pins and one second front positioning pin improve the accuracy of the front end positioning of the workpiece.

The second front positioning rod can also be longitudinally arranged and is connected with the right positioning bracket through a connecting rod, and second front positioning pins are respectively arranged on the upper side and the lower side of the second front positioning rod. When the front end area of the workpiece is large, the positioning accuracy is improved by the front positioning pins.

Two or more clamping cylinders can be arranged on the rear side wall of the mounting groove, and the clamping cylinders are uniformly distributed on the rear side wall of the mounting groove. The pushing force is improved, and when the workpiece is pushed, the workpiece is more uniformly displaced, so that the positioning accuracy is improved.

Example 2

Different from the embodiment 1, the rear end of the right positioning bracket is provided with a right positioning rod 32, the left end of the right positioning rod 32 is provided with a right positioning pin 31, and the distance between the left positioning pin 21 and the right positioning pin 31 is greater than the width of the corresponding part of the workpiece. When the workpiece is tightly attached to the left positioning pin, the left positioning pin plays a role in steric hindrance, the left end face of the workpiece cannot be welded once when a robot is welded, the right end face of the workpiece can be welded completely once at the moment, the right positioning pin can be used for positioning the workpiece for the second time, the tool frame is rotated to-20 to-70 degrees, the clamping cylinder is loosened, the workpiece is tightly attached to the right positioning pin under the action of self gravity, the workpiece is secondarily positioned to the right positioning pin through the gravity and the clamping cylinder, the left end face is free from steric hindrance limitation at the moment, and complete welding can be completed once.

The welding method can also adopt the following steps:

step 104: after the robot welds the upper end face of work piece, the machine of shifting will the frock frame rotates to 90 degrees, the robot welding the right-hand member face of work piece. The right end of the workpiece now faces upward.

Step 105: and the positioner rotates the tooling frame to-20 to-70 degrees or 290 to 340 degrees, the clamping cylinder loosens the workpiece, the workpiece tightly adheres to the right positioning pin by virtue of gravity, and the clamping cylinder clamps the workpiece.

Step 106: the positioner rotates the tool rack to-90 degrees or 270 degrees, and the robot welds the left end face of the workpiece. The left end face of the workpiece faces upwards.

Step 107: the positioner rotates the tool rack to-180 degrees or 180 degrees, and the robot welds the lower end face of the workpiece.

Step 108: the positioner restores the tool rack to a horizontal position, and the clamping cylinder loosens the workpiece and unloads the workpiece. And finishing the automatic welding of the workpiece.

In a specific embodiment, the rear end of the tool frame 1 is provided with a mounting hole, the mounting hole is provided with a flange plate 6, the flange plate 6 is provided with a threaded hole, and the flange plate is fixed on the output shaft 91 of the positioner through a bolt. A reinforcing rib 10 is arranged between the first front positioning rod and the left positioning bracket, a reinforcing rib is also arranged between the second front positioning rod and the right positioning bracket, and a reinforcing rib is also arranged between the rear side wall and the lower end wall of the mounting groove; the utility model discloses can use the square steel pipe to make through the welding.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. A robot welding tool is arranged on an output shaft of a positioner and comprises a tool frame and a positioning pin, and is characterized in that the tool frame is provided with an installation groove, the positioning pin comprises a left positioning pin, a first front positioning pin and a second front positioning pin,

a left positioning support and a right positioning support are respectively arranged on the left side and the right side of the front end of the tool frame, a left positioning rod is arranged at the rear end of the left positioning support, a left positioning pin is arranged at the right end of the left positioning rod, a first front positioning rod is arranged on the right side of the left positioning support, and a first front positioning pin is arranged at the rear end of the first front positioning rod;

a second front positioning rod is arranged on the left side of the right positioning bracket, and a second front positioning pin is arranged at the rear end of the second front positioning rod;

the tool rack is characterized in that a clamping cylinder is arranged at the rear end of the mounting groove, a main shaft of the clamping cylinder extends forwards, a clamping push rod is arranged on the main shaft of the clamping cylinder, and welding openings communicated with the mounting groove are respectively formed in the lower end and the left end and the right end of the tool rack.

2. The robot welding tool of claim 1, wherein a swing arm cylinder is arranged at an upper end of a rear side wall of the mounting groove, a main shaft of the swing arm cylinder extends to the left side or the right side, and a swing arm extending forwards is arranged on a main shaft of the swing arm cylinder.

3. The robot welding tool of claim 2, further comprising a clamping sleeve and a mounting seat, wherein the clamping sleeve is fixed on a main shaft of the swing arm cylinder, a rotating groove is formed in the outer end of the clamping sleeve, one end of the mounting seat is hinged in the rotating groove, and the other end of the mounting seat is fixedly connected with the swing arm.

4. The robot welding tool of claim 1, wherein the first front positioning rod is longitudinally arranged, the first front positioning rod is fixedly connected with the left positioning bracket through a connecting rod, and first front positioning pins are respectively arranged on the upper side and the lower side of the first front positioning rod.

5. The robot welding tool according to claim 1 or 4, wherein the second front positioning rod is longitudinally arranged, the second front positioning rod is connected with the right positioning bracket through a connecting rod, and second front positioning pins are respectively arranged on the upper side and the lower side of the second front positioning rod.

6. The robot welding tool of claim 1, wherein at least two clamping cylinders are arranged on the rear side wall of the mounting groove, and the clamping cylinders are uniformly distributed on the rear side wall of the mounting groove.

7. The robot welding tool of claim 1, wherein a right positioning rod is arranged at the rear end of the right positioning support, a right positioning pin is arranged at the left end of the right positioning rod, and the distance between the left positioning pin and the right positioning pin is greater than the width of the corresponding part of the workpiece.

8. The robot welding tool of claim 1, wherein a mounting hole is formed in the rear end of the tool frame, a flange plate is arranged on the mounting hole, a threaded hole is formed in the flange plate, and the flange plate is fixed to an output shaft of the positioner through a bolt.