An intelligent robot arc tracking fixture

Abstract

The present invention belongs to the technical field of intelligent robot welding arc tracking, and particularly relates to an intelligent robot arc tracking fixture. It includes a welding gun, a driving flexible rod and an arc tracking fixture, wherein the welding gun is connected to the execution end of the intelligent welding robot, one end of the driving flexible rod is connected to the welding gun, and the other end is connected to the arc tracking fixture, and the arc tracking fixture is arranged at the back weld of the Y-shaped groove T-shaped weld formed between the arc workpiece and the annular workpiece, and the arc tracking fixture can track with the welding gun in real time, and can balance the magnetic field at the back weld of the Y-shaped groove T-shaped weld. The present invention can demagnetize the magnetized arc workpiece and the annular workpiece that are docked with each other, so that the arc workpiece and the annular workpiece are in a state of magnetic balance, which can effectively reduce the influence of the magnetic field on the welding arc, prevent the arc from generating magnetic blow, ensure the stability of the arc column, and achieve a good welding effect.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent robot welding arc tracking, and in particular relates to an intelligent robot arc tracking fixture. Background Art

[0002] The principle of robot arc tracking is that the welding gun swings during welding, and the current signal in welding is sampled in real time. According to the welding current deviation value and trend at both ends of the swing, the path correction data in the horizontal and vertical directions is analyzed and transmitted to the robot control cabinet in time. The robot corrects the motion trajectory in real time to ensure that stable welding requirements are met. The conditions of use are: 1. The swing amplitude requires a minimum of 1.5 times the wire diameter under the premise of stable and reliable welding; 2. It is not suitable for special welding processes such as aluminum plate welding; 3. The welding starting point is fixed, and the weld does not exceed 1 meter. The maximum deviation distance of the end point is one tenth of the weld length. For example, if the weld length is 200mm, the position of the end point can differ from the theoretical position by 20mm; 4. Test the welding process before use, and specify the reference current for tracking after obtaining a good welding effect; 5. The current parameter in Weld data is the tracking reference current.

[0003] The main reasons for arc deviation after arc starting are as follows:

[0004] 1. Magnetic arc blow: When using a DC welding machine, improper grounding wire position may cause magnetic blow. Since the current passing through the weldment generates a magnetic field in space, when the welding rod is perpendicular to the weldment, the density of the magnetic lines of force on the left side of the arc is larger, while the magnetic lines of force on the right side of the arc are sparse. The uneven distribution of the magnetic lines of force causes the side with a larger density to generate thrust on the arc, causing the arc to deviate from the axis.

[0005] Solutions: (1) Adjust the welding technique to tilt the electrode in the opposite direction of magnetic blow to change the size of the space on the left and right of the arc, make the density of magnetic lines of force uniform, and reduce the degree of magnetic blow; (2) You can also adjust the position of the grounding wire or add grounding wires on both sides of the weldment; (3) DC welding machines are prone to magnetic blow, so you can use AC welding machines or arc welding rectifiers;

[0006] 2. The solution to the eccentricity of the welding rod core causing the blow is to change the welding rod;

[0007] 3. When the wind is strong outside and the welding process is affected by the wind and causes side blowing, welding should be stopped and solved by using wind barriers and other methods.

[0008] However, when encountering the back weld of the Y-groove T-weld of the arc-shaped component, the arc tracking arc magnetic blow and arc deviation after arc starting of the intelligent robot in the welding technology will occur. Therefore, an intelligent robot arc tracking fixture is urgently needed. Summary of the invention

[0009] In view of the above problems, the purpose of the present invention is to provide an intelligent robot arc tracking fixture to solve the problem of arc magnetic blow and arc deviation after arc starting in the arc tracking of the intelligent robot in welding technology when encountering the back weld of the Y-groove T-weld of the arc-shaped component.

[0010] In order to achieve the above object, the present invention adopts the following technical solutions:

[0011] An embodiment of the present invention provides an intelligent robot arc tracking fixture, comprising a welding gun, a driving flexible rod and an arc tracking fixture, wherein the welding gun is connected to the execution end of the intelligent welding robot, one end of the driving flexible rod is connected to the welding gun, and the other end is connected to the arc tracking fixture, and the arc tracking fixture is arranged at the back weld of the Y-groove T-weld formed between the arc-shaped workpiece and the annular workpiece, and the arc tracking fixture can track the welding gun in real time and balance the magnetic field at the back weld of the Y-groove T-weld.

[0012] In a possible implementation, the arc tracking fixture includes a clamp body; one end of the clamp body is a wedge-shaped structure, and the wedge-shaped structure is in contact with the back weld of the Y-groove T-weld.

[0013] In a possible implementation, the other end of the clamp body is provided with an inner groove;

[0014] The other end of the driving flexible rod is provided with a driving rigid ball accommodated in the inner groove, and the driving rigid ball is in point-surface contact with the two side walls of the inner groove.

[0015] In a possible implementation, an elastic member is provided in the inner groove;

[0016] The driving rigid ball abuts against the elastic member.

[0017] In a possible implementation, the elastic member is a leaf spring, one end of the leaf spring is connected to the bottom of the inner groove, and the other end of the leaf spring is in point-to-surface contact with the driving rigid ball.

[0018] In a possible implementation manner, the inner groove on the clamp body is opened along the radial direction of the arc-shaped workpiece.

[0019] In a possible implementation, the back weld of the Y-groove T-weld includes a flat joint surface and an arc joint surface, and both the flat joint surface and the arc joint surface are coated with conductive glue.

[0020] In a possible implementation, the arc tracking fixture is made of metal.

[0021] In a possible implementation manner, the driving flexible rod is an L-shaped structure.

[0022] The advantages and beneficial effects of the present invention are as follows: the intelligent robot arc tracking fixture provided by the present invention can demagnetize the magnetized arc workpieces and annular workpieces that are butted against each other by real-time tracking of the arc tracking fixture and the welding gun, and the arc tracking fixture is in close contact with the back weld of the Y-groove T-weld, so that the arc workpieces and the annular workpieces are in a state of magnetic balance, which can effectively reduce the influence of the magnetic field on the welding arc, prevent the arc from generating magnetic blow, ensure the stability of the arc column, and achieve a good welding effect; at the same time, the arc tracking fixture supports and positions the arc workpiece, so that the welding process is stable and the welding quality is improved.

[0023] The present invention provides an intelligent robot arc tracking fixture, which can adapt to the size deviation of the back weld of Y-groove T-weld by driving the elastic connection structure of the flexible rod and the arc tracking fixture, and will not interfere with the welding work of the welding gun; at the same time, it can adapt to various scanning types of arc workpieces and annular workpieces, and has a wide range of applications.

[0024] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0025] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 An axonometric diagram of an intelligent robot arc tracking fixture of the present invention;

[0028] Figure 2 for Figure 1 The enlarged image of point Ⅰ in the middle;

[0029] Figure 3 for Figure 2 Middle AA section view;

[0030] In the figure: 1 is a tooling, 2 is a ring-shaped workpiece, 3 is an arc-shaped workpiece, 4 is an intelligent welding robot, 5 is a welding gun, 6 is a driving flexible rod, 7 is a driving rigid ball, 8 is an arc-shaped tracking fixture, 9 is an inner groove, 10 is a leaf spring, 11 is a flat joint, and 12 is an arc joint. DETAILED DESCRIPTION

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0035] The embodiment of the present invention provides an intelligent robot arc tracking fixture, which can demagnetize the magnetized arc workpieces and annular workpieces that are connected to each other, so that the arc workpieces and the annular workpieces are in a state of magnetic balance, which can effectively reduce the influence of the magnetic field on the welding arc, prevent the arc from generating magnetic blow, ensure the stability of the arc column, and achieve good welding effect. Figures 1 to 3 As shown, the intelligent robot arc tracking fixture includes a welding gun 5, a driving flexible rod 6 and an arc tracking fixture 8, wherein the welding gun 5 is connected to the execution end of the intelligent welding robot 4, one end of the driving flexible rod 6 is connected to the welding gun 5, and the other end is connected to the arc tracking fixture 8, and the arc tracking fixture 8 is arranged at the back weld of the Y-shaped groove T-weld formed between the arc-shaped workpiece 3 and the annular workpiece 2. The arc tracking fixture 8 can track the welding gun 5 in real time, and can balance the magnetic field at the back weld of the Y-shaped groove T-weld, and can support and position the arc-shaped workpiece 3.

[0036] See also Figure 1 As shown, in the embodiment of the present invention, the annular workpiece 2 is supported and fixed by a plurality of fixtures 1, the arc-shaped workpiece 3 is placed on the upper plane of the annular workpiece 2, and a Y-shaped groove T-shaped weld is formed between the arc-shaped workpiece 3 and the annular workpiece 2, and the Y-shaped groove T-shaped weld includes a front weld and a back weld located inside and outside the arc-shaped workpiece 3, respectively. The intelligent welding robot 4 is arranged on the inner side of the arc-shaped workpiece 3 and the annular workpiece 2, and the intelligent welding robot 4 welds the front weld of the Y-shaped groove T-shaped weld by executing the welding gun 5 at the end, and at this time, the arc tracking fixture 8 is located outside the arc-shaped workpiece 3 and contacts the back weld of the Y-shaped groove T-shaped weld.

[0037] See also Figure 2 As shown, in an embodiment of the present invention, the arc tracking fixture 8 includes a clamp body; one end of the clamp body is a wedge-shaped structure, which contacts the back weld of the Y-groove T-weld, that is, the wedge-shaped structure is inserted into the back weld of the Y-groove T-weld and is in close contact with the inner wall of the back weld of the Y-groove T-weld.

[0038] See also Figure 3 As shown, in the embodiment of the present invention, the back weld of the Y-groove T-weld includes a flat surface 11 and an arc surface 12. Specifically, the flat surface 11 is a part of the upper surface of the annular workpiece 2, and the arc surface 12 is a part of the lower end surface of the arc workpiece 3. The arc tracking fixture 8 is made of metal. The arc tracking fixture 8 contacts the flat surface 11 and the arc surface 12 through a wedge structure at one end, which plays a conductive role. At this time, the arc tracking fixture 8 is magnetized, and the arc tracking fixture 8 balances the changing magnetic field around it through its own strong magnetism.

[0039] Furthermore, the flat surface 11 and the arc surface 12 are coated with conductive glue, so that the arc tracking fixture 8 and the annular workpiece 2 and the arc workpiece 3 are electrically conductive, and at the same time, it plays a relative lubrication role between the arc tracking fixture 8 and the annular workpiece 2 and the arc workpiece 3, which facilitates the sliding of the arc tracking fixture 8, enables the magnetic field to quickly reach a magnetic equilibrium state, and can enhance the magnetization effect to achieve demagnetization of the magnetized steel plate.

[0040] See also Figure 3 As shown, in the embodiment of the present invention, the other end of the clamp body is provided with an inner groove 9, and the other end of the driving flexible rod 6 is provided with a driving rigid ball 7 accommodated in the inner groove 9, and the driving rigid ball 7 is in point-surface contact with the two side walls of the inner groove 9.

[0041] Furthermore, an inner groove 9 on the clamp body is opened along the radial direction of the arc-shaped workpiece 3, and an elastic member is arranged in the inner groove 9; the rigid ball 7 is driven to abut against the elastic member, so that the arc-shaped tracking fixture 8 can adapt to the size deviation of the back weld of the Y-groove T-weld, and will not interfere with the welding work of the welding gun 5; at the same time, it can adapt to various scanning types of arc-shaped workpieces 3 and annular workpieces 2, and has a wide range of applications.

[0042] Specifically, the elastic member is a leaf spring 10, one end of which is connected to the bottom of the inner groove 9, and the other end is in point-surface contact with the driving rigid ball 7, that is, the leaf spring 10 is restricted in the inner groove 9 by the driving rigid ball 7. The driving rigid ball 7 can move horizontally and vertically in the inner groove 9 by driving the traction of the flexible rod 6, and can also swing in any direction to achieve real-time tracking with the welding gun 5.

[0043] Furthermore, the driving flexible rod 6 is an L-shaped structure, which avoids interference between the driving flexible rod 6 and the arc-shaped workpiece 3 and enables the arc-shaped tracking fixture 8 to maintain translational movement, thereby improving the stability of welding.

[0044] In the embodiment of the present invention, the driving rigid ball 7 forms a point-surface match with the inner walls of both sides of the inner groove 9, so that the arc tracking fixture 8 can track the welding gun 5 of the intelligent welding robot 4 in real time. The driving rigid ball 7 allows the arc tracking fixture 8 to fit the flat surface 11 of the annular workpiece 2 and the arc surface 12 of the arc workpiece 3 in real time through the leaf spring 10, ensuring the stability of the conductive performance.

[0045] In the Y-groove T-weld of the arc-shaped component composed of the annular workpiece 2 and the arc-shaped workpiece 3, due to the existence of the flat joint 11 and the arc joint 12 of the back weld, the intelligent welding robot 4 has the problem of arc tracking arc magnetic blow and arc deviation after arc starting during the back welding process through the welding gun 5. The main reasons are: first, the inductive reactance and electrical impedance of the flat joint 11 and the arc joint 12 are different from the conventional ones; second, in the welding process alternating circuit system, the inductive reactance and electrical impedance passing through the annular workpiece 2 and the arc-shaped workpiece 3 are different. The embodiment of the present invention provides an intelligent robot arc tracking fixture, by adding an arc tracking fixture 8 to follow the movement during the welding operation, the arc tracking fixture 8 conducts electricity between the annular workpiece 2 and the arc workpiece 3, and can demagnetize the magnetized annular workpiece 2 and the arc workpiece 3 that are connected to each other, so that the magnetic field can quickly reach a magnetic equilibrium state, so that the structure is in a magnetic equilibrium state, the magnetic blow phenomenon is weakened, and the influence of the magnetic field on the welding arc is effectively reduced, and the welding quality is improved.

[0046] An embodiment of the present invention provides an intelligent robot arc tracking fixture. By setting the arc tracking fixture at the back weld of the Y-groove T-weld of the arc-shaped component between the annular workpiece and the arc-shaped workpiece, the overall structure formed by the annular workpiece and the arc-shaped workpiece reaches a state of magnetic balance. The principle of magnetic balance is used to achieve a demagnetization effect on the magnetized workpiece, solve the magnetic blow phenomenon during welding, and achieve smooth welding.

[0047] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent robot arc tracking fixture, characterized in that: The invention comprises a welding gun (5), a driving flexible rod (6) and an arc tracking fixture (8), wherein the welding gun (5) is connected to the execution end of the intelligent welding robot (4), one end of the driving flexible rod (6) is connected to the welding gun (5), and the other end is connected to the arc tracking fixture (8), the arc tracking fixture (8) is arranged at the back weld of the Y-shaped groove T-shaped weld formed between the arc-shaped workpiece (3) and the annular workpiece (2), and the arc tracking fixture (8) can track the welding gun (5) in real time and can balance the magnetic field at the back weld of the Y-shaped groove T-shaped weld; The arc tracking fixture (8) comprises a clamp body; one end of the clamp body is a wedge-shaped structure, the wedge-shaped structure contacts the back weld of the Y-shaped groove T-weld; the other end of the clamp body is provided with an inner groove (9); The other end of the driving flexible rod (6) is provided with a driving rigid ball (7) accommodated in the inner groove (9), and the driving rigid ball (7) is in point-surface contact with two side walls of the inner groove (9); An elastic member is provided in the inner groove (9); the driving rigid ball (7) abuts against the elastic member; The arc-shaped tracking fixture (8) is made of metal.

2. The intelligent robot arc tracking fixture according to claim 1, characterized in that: The elastic member is a leaf spring (10); One end of the leaf spring (10) is connected to the bottom of the inner groove (9), and the other end is in point-to-surface contact with the driving rigid ball (7).

3. The intelligent robot arc tracking fixture according to claim 1, characterized in that: The inner groove (9) on the clamp body is opened along the radial direction of the arc-shaped workpiece (3).

4. The intelligent robot arc tracking fixture according to claim 1, characterized in that: The back weld of the Y-groove T-weld comprises a flat joint surface (11) and an arc joint surface (12), and both the flat joint surface (11) and the arc joint surface (12) are coated with conductive glue.

5. The intelligent robot arc tracking fixture according to claim 1, characterized in that: The driving flexible rod (6) is an L-shaped structure.

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