Soft-touch initial height floating adjustment system of bevel welding-cutting mechanical hand

Abstract

The invention discloses a soft-touch initial height floating adjustment system of a bevel welding-cutting mechanical hand, which is formed by a gun body clamp and a group of position detection sensors. The gun body clamp consists of a first semicircular clamp sheet and a second semicircular clamp sheet, and the second semicircular clamp sheet is connected with an electromagnetic inching propellerthrough a push rod. A retractable welding-cutting gun body clamp is utilized to slightly loosen the clamp in the process of adjusting the height of the gun body so that the gun body is in a free state of moving up and down; the actual position of the welding-cutting gun is detected in a moment of touching a workpiece through the gun point; then the clamp is adjusted to an expected height to tightly clamp an object, and the gun body is raised to an initial height position. The invention avoids modification and compensation of a series of path / posture control algorithms caused by the offset of a bevel curve movement centre of the mechanical hand. The sensor on the gun body clamp is triggered in the moment of touching the workpiece through the gun point by using free floating and is used as a height position detection sensor, and the position is used as a reference to calculate the clamping position and the raised height of the clamp to obtain the correct initial height.

Description

Technical field: [0001] The invention relates to the field of machinery, in particular to a groove welding and cutting robot, in particular to a light-touch initial height floating adjustment system for a groove welding and cutting robot. Background technique: [0002] The groove welding and cutting robot needs to be initially adjusted during use. In the prior art, the adjustment of the initial height adjustment system detects the position through a contact sensor or a non-contact sensor. Types of contact sensors include differential voltage sensors, resistance sensors, tactile sensors, stall torque or pressure sensors, and types of non-contact sensors include capacitive sensors and inductive sensors. The contact sensor is very easy to damage or malfunction in the harsh industrial environment of high temperature, combustion, splash, dust, water vapor, and steel slag. If the tip of the welding and cutting torch is directly used as the sensor contact unit, it is more likely t...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a light-touch initial height floating adjustment system of the groove welding and cutting robot hand. The light-touch initial height floating adjustment system of the groove welding and cutting robot hand should solve the problem of direct contact of the torch head in the prior art. The non-contact sensor is easy to damage the torch head or sensor, and the non-contact sensor has poor detection accuracy, serious temperature drift, time drift, interference from the current generated on the workpiece during welding, and technical problems of measurement deviation caused by the position difference with the actual torch head

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