Welding manipulator based on six-axis robot for pole needle and bridge belt welding

Abstract

The invention provides a welding manipulator based on a six-axis robot for a pole needle and a bridge strip of a sealing body, which solves the problems of misjudgment of the qualification of the bridge strip during the welding process of the existing pole needle and the bridge strip, and the quality cannot be guaranteed after welding. The manipulator includes a six-axis robot, a welding jig connecting plate, a bridge belt suction jig connected to the connecting plate, a sealing body grasping jig, a welding pin grasping jig and a vision system. The welding jig connecting plate is connected by The flange is connected with the output shaft of the six-axis robot; the bridge belt suction jig includes a jig shaft arranged in the middle of the lower surface of the welding jig connecting plate and a suction cup arranged at the lower end of the jig shaft; the sealing body grabbing jig includes a set The sealing body cylinder and 2 sealing body chucks on the welding jig connecting plate and whose lower end is inclined outward; the welding pin grabbing jig includes a welding pin cylinder which is arranged on the welding jig connecting plate and whose lower end is inclined outward and 2 welding pin chucks; the vision system includes a camera on the connecting board of the welding jig, and the axis of the camera is parallel to the axis of the jig shaft.

Description

technical field [0001] The invention relates to a welding technology of a sealing body pole needle and a bridge strip, in particular to a sealing body pole needle and a bridge strip welding manipulator based on a six-axis robot. Background technique [0002] The igniter is an important part of the engine, rocket and other devices, and plays a decisive role in whether the engine and the rocket can be ignited. The preparation process of the igniter is as follows: firstly, a sealing body is made, and then a bridge strip is installed and welded on the pole needle of the sealing body, and finally the igniter is obtained. [0003] At present, the welding process of the pole needle and the bridge strip is as follows: first, the quality of the bridge strip is manually inspected under the microscope, then the bridge strip is manually clamped with tweezers and placed into the sealing body, and the bridge strip is moved with a toothpick to cover the pole needle. , and then manually ca...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problems of misjudgment of the qualification of the bridge belt and the unguaranteed quality after welding in the existing welding process of the pole needle and the bridge belt, the invention provides a welding of the pole needle and the bridge belt of the sealing body based on a six-axis robot manipulator

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