A laser welding automatic feeding and rubbing gripper

Abstract

The present invention discloses an automatic loading and rubbing gripper for laser welding, comprising: a frame, which is a rectangular frame structure; a robot connecting flange, which is fixedly arranged on the upper side of the frame and located at the center of the frame; a plurality of suction cup connecting mechanisms, which are arranged on the lower side of the frame and are spaced apart along the length direction of the frame; wherein the intervals between the suction cup connecting mechanisms can be selectively adjusted; a plurality of first vacuum suction cups, which are fixedly connected to the suction cup connecting mechanisms; two second vacuum suction cups, which are fixedly connected to the suction cup connecting mechanisms, and the positions of the second vacuum suction cups can be adaptively adjusted along the vertical direction, the length direction and the width direction of the frame respectively; a plurality of vacuum generators, which are arranged on the frame and are arranged one-to-one corresponding to the suction cup connecting mechanisms; the vacuum generators are connected to the first vacuum suction cup and the second vacuum suction cup through respective air pipes.

Description

Technical Field

[0001] The invention belongs to the technical field of laser welding feeding mechanisms, and in particular relates to an automatic feeding and rubbing gripper for laser welding. Background Art

[0002] Laser welding uses laser energy to automatically join and weld several steels, stainless steels, aluminum alloys, etc. of different materials, thicknesses, and coatings to form an integral plate, profile, sandwich panel, etc., to meet the different material performance requirements of components and achieve lightweight equipment with the lightest weight, optimal structure, and best performance.

[0003] During the processing of laser welding equipment, the plate to be welded needs to be transported and positioned first to ensure accurate welding. Using a robot suction cup to directly grab the plate to be welded and place it in place is a common loading method. However, the loading mechanism of the existing robot suction cup is often only suitable for plates with similar size and weight, and cannot be used for plates with large size differences. In addition, when transporting plates with larger size and smaller thickness, the plates may deform, causing impacts at irregular angles on the robot suction cup mechanism, resulting in the inability to properly suck the plates, and even causing damage to the robot suction cup mechanism and the plates. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a laser welding automatic loading and rubbing gripper, which can adapt to a variety of plates of different specifications; and can provide multi-degree-of-freedom buffering, improve the stability of gripping, and reduce the impact between the loading mechanism and the plate during loading.

[0005] The technical solution provided by the present invention is:

[0006] A laser welding automatic feeding and rubbing gripper, comprising:

[0007] The frame is a rectangular frame structure;

[0008] a robot connecting flange, which is fixedly arranged on the upper side of the frame and located at the center of the frame;

[0009] A plurality of suction cup connection mechanisms are provided on the lower side of the frame and are spaced apart along the length direction of the frame;

[0010] Wherein, the interval between the suction cup connection mechanisms can be selectively adjusted;

[0011] a plurality of first vacuum suction cups fixedly connected to the suction cup connecting mechanism;

[0012] Two second vacuum suction cups, which are fixedly connected to the suction cup connecting mechanism, and the positions of the second vacuum suction cups can be adaptively adjusted along the vertical direction, the length direction and the width direction of the frame respectively;

[0013] A plurality of vacuum generators are arranged on the frame and are arranged in one-to-one correspondence with the suction cup connection mechanisms; the vacuum generators are connected to the first vacuum suction cup and the second vacuum suction cup through respective air pipes.

[0014] Preferably, the suction cup connection mechanism comprises:

[0015] a first mounting beam, which is vertically fixed to the frame along the width direction of the frame;

[0016] Wherein, a plurality of first vacuum suction cups are fixedly mounted on the first mounting beam, and the plurality of first vacuum suction cups are arranged at intervals along the axial direction of the first mounting beam.

[0017] Preferably, the suction cup connection mechanism further comprises:

[0018] a second mounting beam fixed to the frame, the second mounting beam being parallel to the first mounting beam and spaced apart from the first mounting beam; and

[0019] a buffer adjustment mechanism comprising a swing mechanism and a telescopic mechanism, wherein one end of the swing mechanism is connected to one end of both the first mounting beam and the second mounting beam; one end of the telescopic mechanism is connected to the other end of the swing mechanism, and the other end is connected to the second vacuum suction cup;

[0020] The swing mechanism is used to adjust the position of the second vacuum suction cup in the vertical direction and the length direction of the frame; the telescopic mechanism is used to adjust the position of the second vacuum suction cup in the width direction of the frame.

[0021] Preferably, the swing mechanism comprises:

[0022] A mounting base, which is fixedly connected to one end of the first mounting beam and the second mounting beam, and the mounting base is arranged along the length direction of the frame;

[0023] Two guide rods are fixedly connected to the mounting base and are respectively close to two ends of the mounting base; the axes of the guide rods are arranged in the vertical direction;

[0024] Two connecting pieces are provided corresponding to the two guide rods one by one; the connecting pieces are loosely sleeved on the guide rods;

[0025] Two springs are provided corresponding to the two guide rods one by one; the springs are sleeved on the guide rods;

[0026] Wherein, a limit stopper is provided at one end of the guide rod, and both ends of the spring respectively abut against the limit stopper and the connecting member;

[0027] a first connecting rod, both ends of which are rotatably connected to the two connecting members, so that both ends of the first connecting rod can rotate around an axis parallel to the width direction of the frame;

[0028] a second connecting rod, one end of which is fixedly connected to the mounting seat;

[0029] Wherein, one of the guide rods is located between the second connecting rod and the other guide rod;

[0030] a first cylinder, the piston rod of which is rotatably connected to one of the connecting members, and a closed end of the cylinder barrel of the first cylinder spans the other connecting member and is rotatably connected to the other end of the second connecting rod;

[0031] The rotation axis direction of the piston rod of the first cylinder is parallel to the rotation axis direction of the first connecting rod, and the rotation axis direction of the second connecting rod is vertical.

[0032] Preferably, the telescopic mechanism comprises:

[0033] Two second cylinders are arranged horizontally, and the closed ends of the cylinder barrels of the two second cylinders are fixedly connected to the two connecting members in a one-to-one correspondence;

[0034] Wherein, the two second vacuum suction cups are connected to the ends of the piston rod of the second cylinder in a one-to-one correspondence.

[0035] Preferably, the second cylinder is a flat double-rod cylinder.

[0036] Preferably, the frame is made of high-strength aluminum profile.

[0037] Preferably, a slide groove is provided on the bottom surface of the frame, and the slide groove is provided along the length direction of the frame;

[0038] Wherein, the first mounting beam and the second mounting beam are both provided with sliders, and the sliders match the slide grooves, so that the first mounting beam and the second mounting beam can move along the length direction of the frame to change the interval between the suction cup connection mechanisms.

[0039] Preferably, the sliding groove and the sliding block are locked by a ball plunger.

[0040] Preferably, a dustproof net is provided inside the first vacuum suction cup and the second vacuum suction cup.

[0041] The beneficial effects of the present invention are:

[0042] The laser welding automatic feeding and rubbing gripper provided by the present invention can adapt to a variety of plates of different specifications; it can also provide multi-degree-of-freedom buffering, improve the stability of gripping, reduce the impact between the feeding mechanism and the plate during feeding, and protect the feeding mechanism and the plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the overall structure of the automatic loading and rubbing gripper for laser welding described in the present invention.

[0044] Figure 2 It is a structural schematic diagram of the feeding mechanism described in the present invention.

[0045] Figure 3 It is a structural schematic diagram of the buffer adjustment mechanism of the present invention.

[0046] Figure 4 It is a structural schematic diagram of the swing mechanism described in the present invention. DETAILED DESCRIPTION

[0047] The present invention will be described in further detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0048] like Figure 1-2 As shown, the present invention provides a laser welding automatic loading and rubbing gripper, which mainly includes: a frame 110, a robot connecting flange 120, multiple suction cup connecting mechanisms 130, a first vacuum suction cup 140, a second vacuum suction cup 150 and a vacuum generator 160.

[0049] The frame 110 is a rectangular frame structure, comprising two symmetrically arranged crossbeams 111 and two symmetrically arranged longitudinal beams 112. A robot connection flange 120 is bolted to the top surface of the frame 110 and located at its center. The loading robot connects to the automatic laser welding loading and unloading gripper via the robot connection flange 120. The robot drives the automatic laser welding loading and unloading gripper to move the sheets to be welded.

[0050] As a preferred option, frame 110 is made of high-strength aluminum profiles, making it strong and lightweight, reducing the robot's load while ensuring gripper strength. All connections on frame 110 are pinned, ensuring that vibration and external forces will not cause deformation of frame 110 during high-load operation.

[0051] Multiple suction cup connection mechanisms 130 are spaced apart on the underside of the frame 110 and spaced apart along the length of the frame 110, that is, spaced apart along the axial direction of the crossbeam 111. The spacing between the suction cup connection mechanisms 130 can be selectively adjusted to accommodate plates of varying sizes. For example, for longer, lighter plates, the spacing between the suction cup connection mechanisms 130 can be increased; conversely, for smaller plates, the spacing between the suction cup connection mechanisms 130 can be decreased.

[0052] Multiple first vacuum cups 140 are fixedly connected to the cup connection mechanism 130 via a connecting plate. Two second vacuum cups 150 are fixedly connected to the cup connection mechanism 130 via a connecting plate. The positions of the second vacuum cups 150 can be adaptively adjusted vertically, along the length of the frame 110, and along the width of the frame 110, respectively. This provides a multi-degree-of-freedom buffer, improves grip stability, and reduces impact on the vacuum cup mechanism during loading. Each cup connection mechanism 130 and its corresponding first vacuum cup 140 and second vacuum cup 150 together form a loading mechanism.

[0053] Multiple vacuum generators 160 are fixed to the frame 110, corresponding one to each suction cup connection mechanism 130. Each vacuum generator 160 is connected to each first vacuum cup 140 and second vacuum cup 150 via an air pipe. Each loading mechanism is equipped with a separate vacuum generator 160, providing greater suction force during handling and preventing the sheets from falling.

[0054] Preferably, the suction cup connection mechanism 130 includes a first mounting beam 131, which is vertically fixed to the frame 110 along the axial direction of the longitudinal beam 112 (the width direction of the frame 110). A plurality of first vacuum suction cups 140 are fixedly mounted on the first mounting beam 131, and the plurality of first vacuum suction cups 140 are spaced apart along the axial direction of the first mounting beam 131.

[0055] The suction cup connection mechanism 130 also includes: a second mounting beam 132 and a buffer adjustment mechanism. The second mounting beam 132 is fixed to the frame 110, parallel to the first mounting beam 131, and spaced apart from the first mounting beam 131. The buffer adjustment mechanism includes: a swing mechanism 133 and a telescopic mechanism 134. One end of the swing mechanism 133 is connected to both the first mounting beam 131 and one end of the second mounting beam 132; one end of the telescopic mechanism 134 is connected to the other end of the swing mechanism 133, and the other end of the telescopic mechanism 133 is connected to the second vacuum suction cup 150. The swing mechanism 133 is used to adjust the position of the second vacuum suction cup 150 in the vertical direction and along the length of the frame 110; the telescopic mechanism 134 is used to adjust the position of the second vacuum suction cup 150 along the width of the frame 110.

[0056] Preferably, the bottom surfaces of the two crossbeams 111 are respectively provided with a slide groove, which is arranged along the length direction of the crossbeam 111. Specifically, two slide blocks 130a are provided on each of the first mounting beam 131 and the second mounting beam 132. The two slide blocks 130a respectively match the slide grooves on the two crossbeams 111, allowing the first mounting beam 131 and the second mounting beam 132 to move along the length direction of the crossbeam 111 (frame 110) to change the spacing between the suction cup connection mechanisms 130. The provision of the slide grooves and the corresponding slide blocks 130a on the two crossbeams 111 can ensure the stability of the movement of the suction cup connection mechanism 130 and prevent the position of the suction cup connection mechanism 130 from shifting during movement.

[0057] As a further preference, the sliding groove and the slider 130a are locked by a ball plunger.

[0058] like Figure 3-4 As shown, as a preferred embodiment, the swing mechanism 133 includes: a mounting seat 1331 , a guide rod 1332 , a connecting piece 1333 , a spring 1334 , a first connecting rod 1335 , a second connecting rod 1336 and a first cylinder 1337 .

[0059] The mounting base 1331 is fixedly connected to one end of both the first mounting beam 131 and the second mounting beam 132. The mounting base 1331 is arranged horizontally along the length of the frame 110. Two guide rods 1332 are fixedly connected to the mounting base 1331 and are respectively close to the two ends of the mounting base 1331; the axes of the guide rods 1332 are arranged in the vertical direction. Two connecting members 1333 are arranged in a one-to-one correspondence with the two guide rods 1332, and the connecting members 1333 are loosely sleeved on the guide rods 1332. Two springs 1334 are arranged in a one-to-one correspondence with the two guide rods 1332; the springs 1334 are sleeved on the guide rods 1332. Among them, a limit block 1332a is fixedly provided on the upper end of the guide rod 1332, and the two ends of the spring 1334 respectively abut against the limit block 1332a and the upper end of the connecting member 1333.

[0060] As a preferred embodiment, two vertical through holes are provided on the mounting seat 1331 , and the two through holes are arranged in one-to-one correspondence with the two guide rods 1332 ; the guide rods 1332 pass through the through holes and are fixedly connected to the mounting seat 1331 via top screws 1331 a.

[0061] The upper and lower ends of the guide rod 1332 extend to the top and bottom of the mounting seat 110 respectively; the connecting piece 1333 is arranged on the outside of the mounting seat 110 (the side away from the frame 110), and the upper and lower ends of the connecting piece 1333 are respectively provided with guide holes, and are loosely sleeved on the guide rod 1332 through the guide holes; that is, the mounting seat 1331 is located between the upper and lower ends of the connecting piece 1333.

[0062] As a further preference, an oil-free bushing is installed in the guide hole. By installing the oil-free bushing, the strength of the guide hole of the connecting member 1333 can be increased, which plays a role in wear resistance and can improve the smoothness of the movement of the connecting member 1333.

[0063] The first connecting rod 1335 is arranged on the outside of the connecting member 1333 (on the side away from the frame 110), and the two ends of the first connecting rod 1335 are respectively rotatably connected to the two connecting members 1333, so that the two ends of the first connecting rod 1335 can respectively rotate around the first axis; wherein, the first axis is an axis parallel to the width direction of the frame 110 (longitudinal beam 112).

[0064] The first connecting rod 1335 is rotatably connected to the connecting member 1333 via a first rotating shaft 1335a. Two first rotating shafts 1335a are provided in a one-to-one correspondence with the two connecting members 1333; one end of each first rotating shaft 1335a is fixedly connected to the connecting member 1333. A fisheye joint is fixedly connected to each end of the first connecting rod 1335, and each end of the first connecting rod 1335 is rotatably connected to the first rotating shaft 1335a via the fisheye joint, thereby enabling the ends of the first connecting rod 1335 to rotate about the axes (first axes) of the two first rotating shafts 1335a.

[0065] The second connecting rod 1336 is fixedly connected to the mounting seat 1331 and is arranged near one end of the mounting seat 1331; wherein the axis of the second connecting rod 1336 is parallel to the first axis, and a guide rod 1332 is located between the second connecting rod 1336 and the other guide rod 1332.

[0066] The first cylinder 1337 is disposed on the same side as the first connecting rod 1335a. The piston rod of the first cylinder 1337 is rotatably connected to one connecting member 1333. The closed end of the cylinder barrel of the first cylinder 1337 extends across the other connecting member 1333 and is rotatably connected to the second connecting rod 1336. The rotation axis of the piston rod is parallel to the first axis, and the rotation axis of the second connecting rod 1336 is parallel to the axis of the guide rod 1332.

[0067] In one embodiment, the piston rod of the first cylinder 1337 is rotatably connected to the connecting member 1333 via a second rotating shaft 1337a. The axis of the second rotating shaft 1337a is arranged parallel to the axis of the first rotating shaft 1335a and is located above the first rotating shaft 1335a. One end of the second rotating shaft 1337a is fixedly connected to a connecting member 1333. A fisheye joint is fixedly connected to the end of the piston rod, rotatably connected to the second rotating shaft 1337a via the fisheye joint, thereby enabling the piston rod to rotate about the axis of the second rotating shaft 1337a.

[0068] The closed end of the barrel of first cylinder 1337 is rotatably connected to second connecting rod 1336 via third rotating shaft 1337b. The axis of third rotating shaft 1337b is arranged vertically, and the upper end of third rotating shaft 1337b is fixedly connected to the closed end of the barrel of first cylinder 1337. One end of second connecting rod 1336 is fixedly connected to mounting base 1331, and the other end is fixedly connected to a fisheye joint and rotatably connected to third rotating shaft 1337b via the fisheye joint, allowing one end of second connecting rod 1336 to rotate about the axis of third rotating shaft 1337b.

[0069] As a further preferred feature, the swing mechanism 133 further includes two limiting sleeves 1338, which are provided in a one-to-one correspondence with the two guide rods 1332. The limiting sleeves 1338 are loosely mounted on the guide rods 1332, and the upper end of the connector 1333 is located between the spring 1331 and the limiting sleeves 1338. The limiting sleeves 1338 are located between the upper end of the connector 1333 and the mounting base 1331. The limiting sleeves 1338a are provided to limit the downward position of the connector 1333a to ensure the normal operation of the swing mechanism 133.

[0070] The telescopic mechanism 134 includes two second cylinders 1341 arranged horizontally, with the closed ends of the cylinder barrels of the two second cylinders 1341 fixedly connected to the two connecting members 1333 in a one-to-one correspondence. Among them, the two second vacuum suction cups 150 are connected to the ends of the piston rods of the second cylinders 1341 in a one-to-one correspondence.

[0071] As a preference, the second cylinder 134a is a flat double-rod cylinder; the second cylinder 134a is provided with two guide rods which can play a good guiding role, ensure the smoothness of the cylinder movement, and prevent rotation.

[0072] Among them, two pressure gauges are installed above the frame 110 to monitor the impact force exerted on the feeding mechanism in the length direction of the frame 110 and the width direction of the frame 110 respectively. According to the impact force, the first cylinder 1337 of the swing mechanism 133 and the extension and contraction of the second cylinder 1341 of the extension mechanism 134 generate an adaptive buffering force. When the weight of the plate changes, the buffering force is adjusted to protect the feeding mechanism and the plate.

[0073] As a further preference, dustproof nets are provided in the first vacuum suction cup 140 and the second vacuum suction cup 150 to prevent large particles of dust from entering the vacuum generator 160 and causing damage to the equipment.

[0074] The laser welding automatic loading and rubbing gripper provided by the present invention can adapt to a variety of plates of different specifications; it can also provide multi-degree-of-freedom buffering, improve the stability of gripping, and reduce the impact on the loading mechanism during loading; and it can ensure the safety of plate handling to the greatest extent.

[0075] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A laser welding automatic feeding and rubbing gripper, characterized in that: include: The frame is a rectangular frame structure; a robot connecting flange, which is fixedly arranged on the upper side of the frame and located at the center of the frame; A plurality of suction cup connection mechanisms are provided on the lower side of the frame and are spaced apart along the length direction of the frame; Wherein, the interval between the suction cup connection mechanisms can be selectively adjusted; a plurality of first vacuum suction cups fixedly connected to the suction cup connecting mechanism; Two second vacuum suction cups, which are fixedly connected to the suction cup connecting mechanism, and the positions of the second vacuum suction cups can be adaptively adjusted along the vertical direction, the length direction and the width direction of the frame respectively; A plurality of vacuum generators are provided on the frame and are arranged in one-to-one correspondence with the suction cup connection mechanisms; the vacuum generators are connected to the first vacuum cup and the second vacuum cup via respective air pipes; The suction cup connection mechanism comprises: a first mounting beam, which is vertically fixed to the frame along the width direction of the frame; Wherein, a plurality of first vacuum suction cups are fixedly mounted on the first mounting beam, and the plurality of first vacuum suction cups are arranged at intervals along the axial direction of the first mounting beam; The suction cup connection mechanism also includes: a second mounting beam fixed to the frame, the second mounting beam being parallel to the first mounting beam and spaced apart from the first mounting beam; and a buffer adjustment mechanism comprising a swing mechanism and a telescopic mechanism, wherein one end of the swing mechanism is connected to one end of both the first mounting beam and the second mounting beam; one end of the telescopic mechanism is connected to the other end of the swing mechanism, and the other end is connected to the second vacuum suction cup; The swing mechanism is used to adjust the position of the second vacuum suction cup in the vertical direction and the length direction of the frame; the telescopic mechanism is used to adjust the position of the second vacuum suction cup in the width direction of the frame; The swing mechanism comprises: A mounting base, which is fixedly connected to one end of the first mounting beam and the second mounting beam, and the mounting base is arranged along the length direction of the frame; Two guide rods are fixedly connected to the mounting base and are respectively close to two ends of the mounting base; the axes of the guide rods are arranged in the vertical direction; Two connecting pieces are provided corresponding to the two guide rods one by one; the connecting pieces are loosely sleeved on the guide rods; Two springs are provided corresponding to the two guide rods one by one; the springs are sleeved on the guide rods; Wherein, a limit stopper is provided at one end of the guide rod, and both ends of the spring respectively abut against the limit stopper and the connecting member; a first connecting rod, both ends of which are rotatably connected to the two connecting members, so that both ends of the first connecting rod can rotate around an axis parallel to the width direction of the frame; a second connecting rod, one end of which is fixedly connected to the mounting seat; Wherein, one of the guide rods is located between the second connecting rod and the other guide rod.

2. The automatic feeding and rubbing gripper for laser welding according to claim 1 is characterized in that: The swing mechanism further comprises: a first cylinder, the piston rod of which is rotatably connected to one of the connecting members, and a closed end of the cylinder barrel of the first cylinder spans the other connecting member and is rotatably connected to the other end of the second connecting rod; The rotation axis direction of the piston rod of the first cylinder is parallel to the rotation axis direction of the first connecting rod, and the rotation axis direction of the second connecting rod is vertical.

3. The automatic feeding and rubbing gripper for laser welding according to claim 1 or 2, characterized in that: The telescopic mechanism comprises: Two second cylinders are arranged horizontally, and the closed ends of the cylinder barrels of the two second cylinders are fixedly connected to the two connecting members in a one-to-one correspondence; Wherein, the two second vacuum suction cups are connected to the ends of the piston rod of the second cylinder in a one-to-one correspondence.

4. The automatic feeding and rubbing gripper for laser welding according to claim 3 is characterized in that: The second cylinder is a flat double-rod cylinder.

5. The automatic feeding and rubbing gripper for laser welding according to claim 4 is characterized in that: The frame is made of high-strength aluminum profile.

6. The automatic feeding and rubbing gripper for laser welding according to claim 5 is characterized in that: The bottom surface of the frame is provided with a slide groove, and the slide groove is arranged along the length direction of the frame; Wherein, the first mounting beam and the second mounting beam are both provided with sliders, and the sliders match the slide grooves, so that the first mounting beam and the second mounting beam can move along the length direction of the frame to change the interval between the suction cup connection mechanisms.

7. The automatic feeding and rubbing gripper for laser welding according to claim 6 is characterized in that: The sliding groove and the sliding block are locked by a ball plunger.

8. The automatic feeding and rubbing gripper for laser welding according to claim 7 is characterized in that: Dust-proof nets are provided inside the first vacuum suction cup and the second vacuum suction cup.

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