Clamp steering mechanism suitable for spot welding equipment

Abstract

The invention relates to a clamp steering mechanism suitable for spot welding equipment, and belongs to the technical field of automobile part welding appliances, the clamp steering mechanism comprises a workbench, a welding system and a clamp system, the welding system and the clamp system are arranged on the workbench, the welding system comprises a plurality of welding mechanical arms, and the welding mechanical arms are used for welding objects to be welded; the clamp system comprises at least two tool clamps, each tool clamp is correspondingly provided with a displacement mechanism and a steering mechanism, the tool clamps are connected to the steering mechanisms, the steering mechanisms are used for driving the tool clamps to rotate or revolve, and the steering mechanisms are connected to the displacement mechanisms. The displacement mechanism is used for driving the steering mechanism to move in the vertical direction and / or the horizontal direction, flexible movement and all-directional rotation of the tool clamp in a three-dimensional space can be achieved through the steering mechanism and the displacement mechanism, and the requirements of various complex welding tasks are met.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile parts welding tools, and in particular relates to a fixture steering mechanism suitable for spot welding equipment. Background Art

[0002] In the welding of automotive parts, most of them are currently welded manually or by machine. However, whether it is manual welding or machine welding, in order to ensure the efficiency and accuracy of product welding, it is usually necessary to clamp and position the object to be welded before welding.

[0003] The positioning fixture structure currently used before welding is generally simple, and the fixture cannot be adaptively adjusted according to the actual situation of the object to be welded, which leads to a single fixture positioning angle and a decrease in the welding yield rate. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a clamp steering mechanism suitable for spot welding equipment, which solves the problem that the clamp cannot be adaptively adjusted according to the actual situation of the object to be welded, thereby resulting in a single clamp positioning angle and a decrease in welding yield.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A fixture steering mechanism suitable for spot welding equipment comprises a workbench, and a welding system and a fixture system arranged on the workbench, wherein the welding system comprises a plurality of welding mechanical arms, and the welding mechanical arms are used to weld objects to be welded; the fixture system comprises at least two tooling fixtures, each of which is correspondingly provided with a displacement mechanism and a steering mechanism, the tooling fixture is connected to the steering mechanism, and the steering mechanism is used to drive the tooling fixture to rotate or revolve, and the steering mechanism is connected to the displacement mechanism, and the displacement mechanism is used to drive the steering mechanism to displace in the vertical direction and / or horizontal direction.

[0007] As a preferred technical solution of the present invention, the displacement mechanism includes a vertical lifting device, which is a screw slider module. The fixed end of the vertical lifting device is connected to the workbench, the slider of the vertical lifting device moves in a vertical direction, and the slider of the vertical lifting device is connected to a first fixed platform.

[0008] As a preferred technical solution of the present invention, the displacement mechanism further includes a horizontal moving device, the horizontal moving device is a screw slider module, the fixed end of the horizontal moving device is connected to the first fixed platform, the slider of the horizontal moving device moves in a horizontal direction, and the slider of the horizontal moving device is connected to a second fixed platform;

[0009] Alternatively, the horizontal moving device is a cylinder, the fixed end of the horizontal moving device is connected to the first fixed platform, the telescopic end of the horizontal moving device moves in a horizontal direction, and the telescopic end of the horizontal moving device is connected to a second fixed platform.

[0010] As a preferred technical solution of the present invention, an operating station is recessed on the front side of the workbench, and the tooling fixtures are respectively distributed on the left side, right side and rear side of the operating station. The horizontal moving device equipped with the tooling fixture arranged on the left side of the operating station moves in a direction pointing to the right side of the operating station, the horizontal moving device equipped with the tooling fixture arranged on the right side of the operating station moves in a direction pointing to the left side of the operating station, and the horizontal moving device equipped with the tooling fixture arranged on the rear side of the operating station moves in a direction pointing to the front side of the operating station.

[0011] As a preferred technical solution of the present invention, the steering mechanism includes a first steering device, and the first steering device is used to drive the tooling fixture to rotate on a first plane, and the first plane is a vertical plane.

[0012] As a preferred technical solution of the present invention, the first steering device includes a first fixed seat and a first rotating seat, the first rotating seat includes a first rotating plate and a first connecting plate, the first rotating plate is perpendicular to the first connecting plate, one side of the first fixed seat is fixedly connected to the second fixed platform, the other side of the first fixed seat is rotatably connected to the first rotating plate, the connecting surface between the first fixed seat and the first rotating plate is a vertical plane, and when the first rotating seat is controlled to rotate relative to the first fixed seat, the tooling fixture is driven to rotate on the first plane.

[0013] As a preferred technical solution of the present invention, the steering mechanism further includes a second steering device, and the second steering device is used to drive the tooling fixture to rotate on a second plane, and the second plane is a vertical plane and perpendicular to the first plane.

[0014] As a preferred technical solution of the present invention, the second steering device includes a second fixed seat and a second rotating seat, the second rotating seat includes a second rotating plate and a second connecting plate, the second rotating plate is perpendicular to the second connecting plate, one side of the second fixed seat is fixedly connected to the first connecting plate, the other side of the second fixed seat is rotatably connected to the second rotating plate, the tooling fixture is connected to the second connecting plate, the connecting surface between the second fixed seat and the second rotating plate is a vertical plane, and when the second rotating seat is controlled to rotate relative to the second fixed seat, the tooling fixture is driven to rotate on the second plane.

[0015] As a preferred technical solution of the present invention, the vertical lifting device, the horizontal moving device, the first steering device and the second steering device are respectively provided with a first servo motor, a second servo motor, a third servo motor and a fourth servo motor, and the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively used to provide power for the operation of the vertical lifting device, the horizontal moving device, the first steering device and the second steering device; wherein, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively connected with a first encoder, a second encoder, a third encoder and a fourth encoder, and the first encoder, the second encoder, the third encoder and the fourth encoder are respectively used to detect the working status and actual position of the vertical lifting device, the horizontal moving device, the first steering device and the second steering device.

[0016] As a preferred technical solution of the present invention, it also includes a PLC control system, which is electrically connected to the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the first encoder, the second encoder, the third encoder, and the fourth encoder.

[0017] The beneficial effects of the present invention are:

[0018] The fixture steering mechanism of the present invention is suitable for spot welding equipment. The tooling fixture is connected to the displacement mechanism through the steering mechanism. The displacement mechanism or the steering mechanism can be started according to the welding requirements to drive the steering mechanism and the connected tooling fixture to move in the vertical direction and / or horizontal direction, or drive the tooling fixture to rotate or revolve, and finally adjust the tooling fixture to a suitable welding angle, so that the welding system can perform welding operations on the object to be welded positioned by the fixture system, thereby meeting the needs of various complex welding tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0020] Figure 1 A stereoscopic view of a fixture steering mechanism suitable for spot welding equipment according to the present invention;

[0021] Figure 2 A top view of a fixture steering mechanism suitable for spot welding equipment according to the present invention;

[0022] Figure 3 It is a front view of a fixture steering mechanism applicable to spot welding equipment of the present invention;

[0023] Figure 4 A schematic diagram of a steering mechanism of a fixture steering mechanism applicable to spot welding equipment according to the present invention;

[0024] Figure 5It is a structural schematic diagram of a first steering device of a fixture steering mechanism applicable to spot welding equipment of the present invention;

[0025] Figure 6 An exploded view of a first steering device of a fixture steering mechanism applicable to spot welding equipment of the present invention;

[0026] Description of main symbols

[0027] In the figure: 1. workbench; 11. operating station; 2. welding system; 21. welding robot arm; 3. fixture system; 31. tooling fixture; 32. steering mechanism; 321. first steering device; 3211. first fixed seat; 3212. first rotating seat; 32121. first rotating plate; 32122. first connecting plate; 322. second steering device; 33. displacement mechanism; 331. vertical lifting device; 332. horizontal moving device. DETAILED DESCRIPTION

[0028] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0029] See also Figure 1-6The present embodiment provides a fixture steering mechanism suitable for spot welding equipment, including a workbench 1, and a welding system 2 and a fixture system 3 arranged on the workbench 1, the welding system 2 includes a plurality of welding mechanical arms 21, and the welding mechanical arms 21 are used to weld the objects to be welded; the fixture system 3 includes at least two fixtures 31, each fixture 31 is correspondingly provided with a displacement mechanism 33 and a steering mechanism 32, the fixture 31 is connected to the steering mechanism 32, the steering mechanism 32 is used to drive the fixture 31 to rotate or revolve, and the steering mechanism 32 is connected to the displacement mechanism 33, and the displacement mechanism 33 is used to drive the steering mechanism 32 to move in the vertical direction and / or horizontal direction. It can be understood that in traditional welding operations, the fixture can often only be fixed in one position and cannot be flexibly adjusted according to welding requirements, which limits the efficiency and quality of the welding operation. In this embodiment, the fixture 31 is connected to the displacement mechanism 33 through the steering mechanism 32. According to the welding requirements, the displacement mechanism 33 is started to drive the steering mechanism 32 and the connected fixture 31 to move in the vertical direction and / or horizontal direction to reach the predetermined position. After reaching the predetermined position, the steering mechanism 32 is started to drive the fixture 31 to rotate or revolve, and adjust to a suitable welding angle. Subsequently, the welding system 2 is started, and the welding robot 21 performs welding operations on the object to be welded positioned by the fixture system 3. The fixture 31 in the fixture steering mechanism of this embodiment can be flexibly moved and rotated in all directions in three-dimensional space to meet the needs of various complex welding tasks. Among them, the welding system 2 and the welding robot 21 belong to the prior art and will not be described in detail here.

[0030] Furthermore, in the spot welding operation, the position of the object to be welded may need to be adjusted at different heights so that the welding robot arm 21 can accurately perform welding. Based on this, the displacement mechanism 33 of this embodiment includes a vertical lifting device 331, and the vertical lifting device 331 is a screw slider module. The fixed end of the vertical lifting device 331 is connected to the workbench 1, and the slider of the vertical lifting device 331 moves in the vertical direction. The slider of the vertical lifting device 331 is connected to a first fixed platform. In this embodiment, the vertical lifting device 331 is a screw slider module, and its fixed end is connected to the workbench 1, and the slider moves in the vertical direction. By controlling the rotation of the screw, the displacement of the slider and the connected first fixed platform in the vertical direction can be accurately controlled. Through the working principle of the screw slider module, the precise displacement of the fixture system 3 in the vertical direction can be achieved to meet the height adjustment requirements of the welding operation. Among them, the screw slider module is a prior art and will not be described in detail here.

[0031] Furthermore, in the spot welding operation, in addition to adjusting the height of the clamp system 3, it is sometimes necessary to move the clamp system 3 in the horizontal direction so as to move the object to be welded into the optimal working range of the welding robot arm 21. Based on this, the displacement mechanism 33 of this embodiment also includes a horizontal moving device 332, and the horizontal moving device 332 is a screw slider module. The fixed end of the horizontal moving device 332 is connected to the first fixed platform, and the slider of the horizontal moving device 332 moves in the horizontal direction, and the slider of the horizontal moving device 332 is connected to the second fixed platform; or, the horizontal moving device 332 is a cylinder, and the fixed end of the horizontal moving device 332 is connected to the first fixed platform, and the telescopic end of the horizontal moving device 332 moves in the horizontal direction, and the telescopic end of the horizontal moving device 332 is connected to the second fixed platform. It is understandable that the horizontal moving device 332 can select a screw slider module or a cylinder as a driving device, the fixed end of which is connected to the first fixed platform, and the slider or telescopic end moves in the horizontal direction and is connected to the second fixed platform, which is used to install the clamp system 3, thereby realizing the displacement of the clamp system 3 in the horizontal direction to meet the position adjustment requirements of the welding operation. Among them, the screw slider module and the cylinder are both existing technologies and are not described in detail here.

[0032] Specifically, an operating station 11 is recessed on the front side of the workbench 1, and the jigs 31 are respectively distributed on the left side, right side and rear side of the operating station 11. The horizontal moving device 332 equipped with the jig 31 disposed on the left side of the operating station 11 moves in a direction pointing to the right side of the operating station 11, the horizontal moving device 332 equipped with the jig 31 disposed on the right side of the operating station 11 moves in a direction pointing to the left side of the operating station 11, and the horizontal moving device 332 equipped with the jig 31 disposed on the rear side of the operating station 11 moves in a direction pointing to the front side of the operating station 11. In this embodiment, by distributing the jigs 31 on the left side, right side and rear side of the operating station 11, and equipping them with horizontal moving devices 332 in corresponding directions, the fixture system 3 can be moved around the operating station 11 more efficiently, so as to facilitate the rapid positioning of the object to be welded within the optimal working range of the welding robot arm 21, thereby improving the efficiency and accuracy of the welding operation. It is understandable that the operator can perform necessary monitoring and adjustments at the operating station 11.

[0033] Furthermore, the steering mechanism 32 includes a first steering device 321 , and the first steering device 321 is used to drive the fixture 31 to rotate on a first plane, and the first plane is a vertical plane.

[0034] Specifically, the first steering device 321 includes a first fixed seat 3211 and a first rotating seat 3212, the first rotating seat 3212 includes a first rotating plate 32121 and a first connecting plate 32122, the first rotating plate 32121 is perpendicular to the first connecting plate 32122, one side of the first fixed seat 3211 is fixedly connected to the second fixed platform, and the other side of the first fixed seat 3211 is rotatably connected to the first rotating plate 32121, and the connecting surface between the first fixed seat 3211 and the first rotating plate 32121 is a vertical plane. When the first rotating seat 3212 is controlled to rotate relative to the first fixed seat 3211, it drives the tooling fixture 31 to rotate on the first plane.

[0035] It is understandable that the jig 31 is connected to the first rotating seat 3212 through the first connecting plate 32122, and the first rotating seat 3212 is connected to the first fixed seat 3211 through a rotating connection. When the jig 31 needs to be rotated, the PLC control system starts the driving mechanism of the first steering device 321 to drive the first rotating seat 3212 to rotate relative to the first fixed seat 3211 on the first plane. As the first rotating seat 3212 rotates, the jig 31 connected through the first connecting plate 32122 will also rotate to a predetermined angle on the first plane. When the jig 31 rotates to the predetermined angle, the PLC control system stops driving the operation of the first steering device 321, and the jig 31 stays at the target position. Through the design of the first steering device 321, the rotation function of the jig 31 on the first plane is realized, so that the welding robot arm 21 can weld from different angles, thereby improving the flexibility and adaptability of the welding operation.

[0036] Furthermore, the steering mechanism 32 further includes a second steering device 322 , and the second steering device 322 is used to drive the fixture 31 to rotate on a second plane, and the second plane is a vertical plane and perpendicular to the first plane.

[0037] Specifically, the second steering device 322 includes a second fixed seat and a second rotating seat, the second rotating seat includes a second rotating plate and a second connecting plate, the second rotating plate is perpendicular to the second connecting plate, one side of the second fixed seat is fixedly connected to the first connecting plate 32122, the other side of the second fixed seat is rotatably connected to the second rotating plate, the tooling fixture 31 is connected to the second connecting plate, the connecting surface between the second fixed seat and the second rotating plate is a vertical plane, when the second rotating seat is controlled to rotate relative to the second fixed seat, it drives the tooling fixture 31 to rotate on the second plane.

[0038] It is understandable that the jig 31 is connected to the second rotating seat through the second connecting plate, and the second rotating seat is connected to the second fixed seat through a rotating connection. When the jig 31 needs to be rotated on the second plane, the PLC control system starts the driving mechanism of the second steering device 322 to drive the second rotating seat to rotate relative to the second fixed seat on the second plane. As the second rotating seat rotates, the jig 31 connected through the second connecting plate will also rotate to a predetermined angle on the second plane. When the jig 31 rotates to the predetermined angle, the PLC control system stops driving the second steering device 322, and the jig 31 stays at the target position. By adding the second steering device 322, the rotation function of the jig 31 on two mutually perpendicular vertical planes is realized, which greatly improves the flexibility and adaptability of the welding operation, so that the welding robot arm 21 can weld the workpiece from more different angles, thereby optimizing the position and quality of the welded joint.

[0039] Optionally, each fixture 31 is provided with an in-place sensor, which is connected to a PLC control system and is used to transmit in-place status information of the object to be welded to the PLC control system. The PLC control system controls the operation of the displacement mechanism 33 and the steering mechanism 32 according to the in-place status information of the object to be welded sent by the in-place sensor.

[0040] Specifically, the vertical lifting device 331, the horizontal moving device 332, the first steering device 321 and the second steering device 322 are respectively provided with a first servo motor, a second servo motor, a third servo motor and a fourth servo motor, and the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively used to provide power for the vertical lifting device 331, the horizontal moving device 332, the first steering device 321 and the second steering device 322; wherein, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively connected with a first encoder, a second encoder, a third encoder and a fourth encoder, and the first encoder, the second encoder, the third encoder and the fourth encoder are respectively used to detect the working status and actual position of the vertical lifting device 331, the horizontal moving device 332, the first steering device 321 and the second steering device 322.

[0041] Specifically, it also includes a PLC control system, which is electrically connected to the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the first encoder, the second encoder, the third encoder, and the fourth encoder.

[0042] It is understandable that a servo motor is a motor that can accurately control position and speed, and achieves accurate control of the load by converting the input electrical signal into a mechanical output. An encoder is a device used to measure the position and speed of mechanical motion, which can convert mechanical motion into an electrical signal and feed it back to the PLC control system to achieve closed-loop control. In this embodiment, each servo motor is connected to an encoder for real-time monitoring of the motion state and position of the servo motor. The PLC control system continuously adjusts the input electrical signal of the corresponding servo motor according to the feedback signal of the encoder, thereby achieving accurate control of the fixture 31. In a specific process, according to the requirements of the welding task, the PLC control system will set the target position, posture and motion trajectory of the fixture 31, and send a start signal to each servo motor, and continuously adjust the input electrical signal of the motor according to the feedback signal of the encoder to achieve precise control of the fixture 31. During the movement process, the PLC control system monitors the movement state and position of each servo motor in real time, and promptly detects and corrects deviations through the signal feedback from the encoder to ensure that the fixture 31 can move and rotate according to the predetermined trajectory and posture. When the fixture 31 reaches the target position, the PLC control system stops the operation of each servo motor and locks the current position for subsequent welding operations.

[0043] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A fixture steering mechanism suitable for spot welding equipment, characterized in that: It includes a workbench, and a welding system and a fixture system arranged on the workbench, the welding system includes a plurality of welding robot arms, and the welding robot arms are used to weld the objects to be welded; the fixture system includes at least two fixtures, each of the fixtures is correspondingly provided with a displacement mechanism and a steering mechanism, the fixture is connected to the steering mechanism, the steering mechanism is used to drive the fixture to rotate or revolve, the steering mechanism is connected to the displacement mechanism, and the displacement mechanism is used to drive the steering mechanism to move in the vertical direction and / or horizontal direction.

2. A fixture steering mechanism suitable for spot welding equipment according to claim 1, characterized in that: The displacement mechanism includes a vertical lifting device, which is a screw slider module. The fixed end of the vertical lifting device is connected to the workbench. The slider of the vertical lifting device moves in the vertical direction. The slider of the vertical lifting device is connected to a first fixed platform.

3. A fixture steering mechanism suitable for spot welding equipment according to claim 2, characterized in that: The displacement mechanism further includes a horizontal moving device, which is a screw slider module, a fixed end of which is connected to the first fixed platform, a slider of which moves in a horizontal direction, and a second fixed platform is connected to the slider of which; Alternatively, the horizontal moving device is a cylinder, the fixed end of the horizontal moving device is connected to the first fixed platform, the telescopic end of the horizontal moving device moves in a horizontal direction, and the telescopic end of the horizontal moving device is connected to a second fixed platform.

4. A fixture steering mechanism suitable for spot welding equipment according to claim 3, characterized in that: An operating station is recessed on the front side of the workbench, and the tooling fixtures are respectively distributed on the left side, right side and rear side of the operating station. The horizontal moving device equipped with the tooling fixture arranged on the left side of the operating station moves in the direction of the right side of the operating station, the horizontal moving device equipped with the tooling fixture arranged on the right side of the operating station moves in the direction of the left side of the operating station, and the horizontal moving device equipped with the tooling fixture arranged on the rear side of the operating station moves in the direction of the front side of the operating station.

5. The fixture steering mechanism suitable for spot welding equipment according to claim 3, characterized in that: The steering mechanism comprises a first steering device, and the first steering device is used to drive the tooling fixture to rotate on a first plane, and the first plane is a vertical plane.

6. A fixture steering mechanism suitable for spot welding equipment according to claim 5, characterized in that: The first steering device includes a first fixed seat and a first rotating seat, the first rotating seat includes a first rotating plate and a first connecting plate, the first rotating plate is perpendicular to the first connecting plate, one side of the first fixed seat is fixedly connected to the second fixed platform, the other side of the first fixed seat is rotatably connected to the first rotating plate, the connecting surface between the first fixed seat and the first rotating plate is a vertical plane, when the first rotating seat is controlled to rotate relative to the first fixed seat, the tooling fixture is driven to rotate on the first plane.

7. A fixture steering mechanism suitable for spot welding equipment according to claim 6, characterized in that: The steering mechanism further includes a second steering device, and the second steering device is used to drive the fixture to rotate on a second plane, and the second plane is a vertical plane and perpendicular to the first plane.

8. A fixture steering mechanism suitable for spot welding equipment according to claim 7, characterized in that: The second steering device includes a second fixed seat and a second rotating seat, the second rotating seat includes a second rotating plate and a second connecting plate, the second rotating plate is perpendicular to the second connecting plate, one side of the second fixed seat is fixedly connected to the first connecting plate, the other side of the second fixed seat is rotatably connected to the second rotating plate, the tooling fixture is connected to the second connecting plate, the connecting surface between the second fixed seat and the second rotating plate is a vertical plane, and when the second rotating seat is controlled to rotate relative to the second fixed seat, the tooling fixture is driven to rotate on the second plane.

9. A fixture steering mechanism suitable for spot welding equipment according to claim 8, characterized in that: The vertical lifting device, the horizontal moving device, the first steering device and the second steering device are respectively provided with a first servo motor, a second servo motor, a third servo motor and a fourth servo motor, and the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively used to provide power for the operation of the vertical lifting device, the horizontal moving device, the first steering device and the second steering device; wherein, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively connected with a first encoder, a second encoder, a third encoder and a fourth encoder, and the first encoder, the second encoder, the third encoder and the fourth encoder are respectively used to detect the working status and actual position of the vertical lifting device, the horizontal moving device, the first steering device and the second steering device.

10. A fixture steering mechanism suitable for spot welding equipment according to claim 9, characterized in that: It also includes a PLC control system, which is electrically connected to the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the first encoder, the second encoder, the third encoder, and the fourth encoder.

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