A multi-station self-adaptive clamping positioning structure of a welding robot

Abstract

The application relates to the technical field of welding positioning, and discloses a multi-station self-adaptive clamping and positioning structure of a welding robot, which comprises a conversion mechanism, a lifting mechanism, a protective guide mechanism and a lifting driving mechanism. The number of the lifting mechanisms is multiple, and the multiple lifting mechanisms are arranged around the inside of the conversion mechanism. The protective guide mechanism is arranged on the surface of the conversion mechanism to guide and protect the lifting mechanism. The lifting driving mechanism is arranged in the inside of the protective guide mechanism and is located below the lifting mechanism. The multi-station self-adaptive clamping and positioning structure of the welding robot can switch the lifting mechanism equipped with different specifications of clamps to a specified station through the conversion mechanism during use, and can realize automatic replacement operation of multiple specifications of clamps through the lifting function of the lifting mechanism.

Description

Technical Field

[0001] This invention relates to the field of welding positioning technology, specifically to a multi-station adaptive clamping and positioning structure for welding robots. Background Technology

[0002] Welding robots are industrial robots that perform welding. An industrial robot is a multi-purpose, reprogrammable, automatically controlled manipulator with three or more programmable axes, used in the field of industrial automation. To adapt to different applications, the mechanical interface of the robot's last axis is usually a connecting flange, which can be fitted with different tools or end effectors. Welding robots are industrial robots with welding clamps or welding guns mounted on the flange of the last axis, enabling them to perform welding, cutting, or thermal spraying.

[0003] When welding robots are tasked with welding workpieces of various specifications, it is usually necessary to equip and change the corresponding special fixtures for different specifications of workpieces, which makes the operation process relatively cumbersome, the work efficiency low, and brings inconvenience to the flexibility and continuity of the production line. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multi-station adaptive clamping and positioning structure for welding robots, which solves the problems mentioned in the background.

[0005] This invention provides the following technical solution: a multi-station adaptive clamping and positioning structure for a welding robot, comprising: A conversion mechanism is used to convert the positions of various lifting mechanisms that are equipped with clamps of different specifications. The lifting mechanism is a plurality of lifting mechanisms, and the plurality of lifting mechanisms are arranged around the inside of the conversion mechanism to push the clamp to lift when the clamp is located below the limit ring in the corresponding process. A protective guide mechanism is disposed on the surface of the conversion mechanism to guide and protect the lifting mechanism; and, A lifting drive mechanism is provided inside the protective guide mechanism and is located below the lifting mechanism, so as to drive the lifting mechanism to lift when the corresponding lifting mechanism is located below the limit ring in the corresponding process.

[0006] Preferably, the conversion mechanism includes: The system comprises a turntable, a conversion motor, a conversion shaft, and inner support rings. The conversion motor is located below the turntable to drive its rotation. The conversion shaft is fixedly installed at the output end of the conversion motor via a coupling to enable transmission between the turntable, the conversion motor, and the second external anti-slip groove. There are multiple inner support rings, all of which are fixedly connected inside the turntable and are distributed around the conversion shaft as a symmetrical axis to provide radial limiting for each lifting cylinder.

[0007] Preferably, the lifting mechanism includes: The system comprises a lifting cylinder, a connecting platform, a clamp, a guide seat, a first anti-deviation pin, a compression spring, an anti-deviation ring, and a second anti-deviation pin. The lifting cylinder is slidably connected inside the inner support ring. The connecting platform is fixedly connected to the inner wall of the top of the lifting cylinder to support the clamp. The clamp is fixedly installed on the top of the connecting platform, and the specifications of the clamps above each lifting cylinder are different to accommodate different workpieces. The guide seat is fixedly connected to the inner wall of the bottom of the lifting cylinder to support the side-opening cylinder. The first anti-deviation pin is integrally set on the inner wall of the guide seat to prevent relative torsion between the side-opening cylinder and the guide seat. The compression spring is movably sleeved on the surface of the lifting cylinder to prevent the lifting cylinder from easily jumping when it is stored. The anti-deviation ring is fixedly sleeved on the surface of the lifting cylinder. The second anti-deviation pin is integrally set on the surface of the anti-deviation ring to cooperate with the support frame and support core to guide the lifting cylinder.

[0008] Preferably, the lifting mechanism further includes: The device comprises a side-opening cylinder, a side opening, an inner anti-slip groove, a support platform, and ball bearings. The side-opening cylinder is slidably connected inside the guide seat to guide the lifting cylinder. The side opening is formed on the surface of the side-opening cylinder to allow space for the threaded cylinder. The inner anti-slip groove is formed on the surface of the side-opening cylinder, and the inner wall of the inner anti-slip groove is slidably connected to the surface of the first anti-slip pin to ensure that the first anti-slip pin guides the side-opening cylinder. The support platform is fixedly sleeved on the surface of the side-opening cylinder, and the ball bearings are rotatably connected to one side of the support platform to reduce friction during the switching of the lifting cylinder.

[0009] Preferably, the lifting mechanism further includes: The system comprises a drive shaft, a driven gear, a threaded cylinder, and a threaded platform. The drive shaft is rotatably connected inside the side-opening cylinder via bearings, and transmits power between the driven gear and the threaded cylinder. The driven gear is fixedly sleeved at the bottom end of the drive shaft to cooperate with the internal gear transmission sleeve to transmit power from the driving gear. The threaded cylinder is fixedly sleeved on the surface of the drive shaft and is located inside the side-opening cylinder to drive the threaded platform to rise and fall. The threaded platform is fixedly connected inside the lifting cylinder, and the inner wall of the threaded platform meshes with the surface of the threaded cylinder to cooperate with the threaded cylinder to convert rotational motion into linear motion.

[0010] Preferably, the protective guide mechanism includes: The device comprises an outer shell, a connecting flange, a positioning plate, a limiting ring, and a rubber ring. The outer shell is rotatably connected to the surface of the turntable via bearings to support the turntable. The connecting flange is integrally mounted on the top surface of the outer shell to ensure external connection of the device. The positioning plate is fixedly connected to the inner wall of the outer shell, and the interior of the positioning plate is rotatably connected to the top of the conversion shaft. The limiting ring is fixedly connected to the interior of the positioning plate to provide radial support for the rising lifting cylinder. The rubber ring is fixedly connected to the inner wall of the limiting ring to form a seal after the lifting cylinder rises.

[0011] Preferably, the protective guide mechanism further includes: The system includes a support frame, a first outer anti-slip groove, a support core, and a second outer anti-slip groove. The support frame is fixedly connected to the bottom of the turntable. The first outer anti-slip groove is located inside the support frame. The support core is fixedly sleeved on the surface of the conversion shaft. The second outer anti-slip groove is located on the surface of the support core. The inner walls of both the second and first outer anti-slip grooves are slidably connected to the surface of the anti-slip ring to cooperate with the anti-slip ring in guiding the lifting cylinder.

[0012] Preferably, the protective guide mechanism further includes: The device comprises an inner support plate, an outer support ring seat, and an outer support inner ring. The inner support plate is rotatably connected to the surface of the conversion shaft via a bearing. The outer support ring seat is fixedly connected to the inner wall of the outer shell. The outer support inner ring is rotatably connected to the inner wall of the outer support ring seat via a bearing. The surfaces of the outer support inner ring and the inner support plate are both in rolling contact with the surface of the side opening cylinder, so as to form an annular guide for the side opening cylinder through the outer support inner ring and the inner support plate.

[0013] Preferably, the lifting drive mechanism includes: The device includes a side mounting base, a lifting drive motor, a sliding guide shaft, and a drive gear. The side mounting base is fixedly connected inside the housing. The lifting drive motor is fixedly installed at the bottom of the side mounting base. The sliding guide shaft is rotatably connected to the output end of the lifting drive motor via a coupling to drive the drive gear to rotate. The drive gear is fixedly sleeved on the top end of the sliding guide shaft to cooperate with the internal gear transmission sleeve to transmit the power of the lifting drive motor to the driven gear.

[0014] Preferably, the lifting drive mechanism further includes: The system comprises a docking motor, a threaded column, an internal gear transmission sleeve, an inner chamfer, and a threaded lifting block. The docking motor is fixedly mounted at the bottom of the side connector. The threaded column is fixedly mounted at the output end of the docking motor via a coupling to drive the threaded lifting block to rise and fall. The internal gear transmission sleeve is movably sleeved on the surface of the driving gear and the sliding guide shaft to convert the transmission between the driving gear and the driven gear. The inner chamfer is integrally set on the top of the internal gear transmission sleeve to guide the docking of the driven gear and the internal gear transmission sleeve. The threaded lifting block is rotatably connected to the surface of the internal gear transmission sleeve via a bearing, and the inner wall of the threaded lifting block is threadedly connected to the surface of the threaded column to convert the rotational motion of the threaded column into the lifting motion of the internal gear transmission sleeve.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This welding robot's multi-station adaptive clamping and positioning structure, through its conversion mechanism, lifting mechanism, protective guide mechanism, and lifting drive mechanism, allows for the switching of different specifications of lifting mechanisms to designated stations during use. Furthermore, the lifting mechanism's lifting function enables automatic replacement of various specifications.

[0016] This welding robot features a multi-station adaptive clamping and positioning structure. Through the configuration of a turntable, a conversion motor, a conversion shaft, and an inner support ring, the turntable can be driven to rotate via the conversion motor during use, thereby enabling the robot to switch between different lifting mechanisms to a designated station.

[0017] This welding robot's multi-station adaptive clamping and positioning structure, through the setting of a lifting cylinder, connecting platform, fixture, guide seat, first anti-deviation pin, compression spring, anti-deviation ring, second anti-deviation pin, side opening cylinder, side opening, inner anti-deviation groove, support platform, ball bearings, transmission shaft, driven gear, threaded cylinder, and threaded platform, can use the rotation of the threaded cylinder to raise and lower the fixture and lifting cylinder during use, so that the lifting cylinder that reaches the designated station can be raised out of the positioning plate to work, or lowered down to be stored.

[0018] This welding robot's multi-station adaptive clamping and positioning structure, through its outer shell, connecting flange, positioning plate, limit ring, rubber ring, support frame, first outer anti-deviation groove, support core, second outer anti-deviation groove, inner support plate, outer support ring seat, and outer support inner ring, can limit the rising lifting cylinder through the positioning plate during use, ensuring that the designated clamp can work stably.

[0019] This welding robot's multi-station adaptive clamping and positioning structure, through the setting of side mounting base, lifting drive motor, sliding guide shaft, drive gear, docking motor, threaded column, internal gear transmission sleeve, inner chamfer, and thread lifting block, can utilize the lifting drive motor to generate torque when the threaded cylinder rotates, and use the forward and reverse rotation of the docking motor to control the engagement and disengagement of the internal gear transmission sleeve and the driven gear. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a main sectional view of the present invention; Figure 3 This is a schematic diagram of the structure at the location of the lifting drive mechanism of the present invention; Figure 4 This is a schematic diagram of the structure at the turntable position of the present invention; Figure 5 This is a schematic diagram of the structure at the location of the inner support plate of the present invention; Figure 6 This is a schematic diagram of the lifting mechanism structure of the present invention; Figure 7 This is a cross-sectional view of the lifting mechanism of the present invention at its location; Figure 8 This is a cross-sectional view of the side opening position of the present invention; Figure 9 This is a schematic diagram of the lifting drive mechanism of the present invention; Figure 10 This is a cross-sectional view of the lifting drive mechanism of the present invention.

[0021] In the picture: 101. Turntable; 102. Converter motor; 103. Converter shaft; 104. Inner support ring; 201. Lifting cylinder; 202. Connecting platform; 203. Clamp; 204. Guide seat; 205. First anti-deviation pin; 206. Compression spring; 207. Anti-deviation ring; 208. Second anti-deviation pin; 209. Side-opening cylinder; 210. Side opening; 211. Inner anti-deviation groove; 212. Support platform; 213. Ball bearing; 214. Drive shaft; 215. Driven gear; 216. Threaded cylinder; 217. Threaded platform; 301. Outer shell; 302. Connecting flange; 303. Positioning plate; 304. Limiting ring; 305. Rubber ring; 306. Support frame; 307. First outer anti-slip groove; 308. Support core; 309. Second outer anti-slip groove; 310. Inner support plate; 311. Outer support ring seat; 312. Outer support inner ring; 401. Side connecting seat; 402. Lifting drive motor; 403. Sliding guide shaft; 404. Drive gear; 405. Connecting motor; 406. Threaded column; 407. Internal gear transmission sleeve; 408. Inner chamfer; 409. Threaded lifting block. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1-10 A multi-station adaptive clamping and positioning structure for a welding robot, comprising: A conversion mechanism is used to convert the positions of each lifting mechanism that is equipped with clamps 203 of different specifications. The lifting mechanism has multiple lifting mechanisms, and all of them are arranged around the inside of the conversion mechanism to push the clamp 203 to rise and fall when the clamp 203 is in the position below the limit ring 304 in the corresponding process. A protective guide mechanism is installed on the surface of the conversion mechanism to guide and protect the lifting mechanism; and, The lifting drive mechanism is located inside the protective guide mechanism and below the lifting mechanism. When the corresponding lifting mechanism is located below the limit ring 304 in the corresponding process, the lifting mechanism is driven to lift. By using the conversion mechanism, lifting mechanism, protective guide mechanism and lifting drive mechanism, the lifting mechanism equipped with different specifications of fixtures 203 can be switched to the designated workstation through the conversion mechanism during use, and the lifting function of the lifting mechanism can be used to realize the automatic replacement operation of various specifications of fixtures 203.

[0024] The conversion mechanism includes: The turntable 101, the conversion motor 102, the conversion shaft 103, and the inner support ring 104 are provided. The conversion motor 102 is located below the turntable 101 to drive the turntable 101 to rotate. The conversion shaft 103 is fixedly installed at the output end of the conversion motor 102 through a coupling to realize the transmission between the turntable 101, the conversion motor 102, and the second external anti-deviation groove 309. There are multiple inner support rings 104, and all of the multiple inner support rings 104 are fixedly connected inside the turntable 101. The multiple inner support rings 104 are distributed around the conversion shaft 103 as a symmetrical axis to form a radial limit for each lifting cylinder 201. With the set turntable 101, conversion motor 102, conversion shaft 103 and inner support ring 104, the turntable 101 can be driven to rotate by the conversion motor 102 during use, thereby realizing the conversion of different lifting mechanisms to the designated work position.

[0025] The lifting mechanism includes: The lifting cylinder 201, connecting platform 202, clamp 203, guide seat 204, first anti-deviation pin 205, compression spring 206, anti-deviation ring 207, and second anti-deviation pin 208 are slidably connected to the inside of the inner support ring 104. The connecting platform 202 is fixedly connected to the inner wall of the top of the lifting cylinder 201 to support the clamp 203. The clamp 203 is fixedly installed on the top of the connecting platform 202, and the specifications of the clamp 203 above each lifting cylinder 201 are different to accommodate different workpieces. The guide seat 204 is fixedly connected to the inner wall of the inner support ring 104. The first anti-deviation pin 205 is integrally set on the inner wall of the guide seat 204 to support the side opening cylinder 209. The first anti-deviation pin 205 is integrally set on the inner wall of the guide seat 204 to avoid relative torsion between the side opening cylinder 209 and the guide seat 204. The compression spring 206 is movably sleeved on the surface of the lifting cylinder 201 to prevent the lifting cylinder 201 from jumping easily when it is stored. The anti-deviation ring 207 is fixedly sleeved on the surface of the lifting cylinder 201. The second anti-deviation pin 208 is integrally set on the surface of the anti-deviation ring 207 to cooperate with the support frame 306 and the support core 308 to guide the lifting cylinder 201.

[0026] The lifting mechanism also includes: The side-opening cylinder 209, the side opening 210, the inner anti-deviation groove 211, the support platform 212, and the ball bearing 213 are provided. The side-opening cylinder 209 is slidably connected to the inside of the guide seat 204 to guide the lifting cylinder 201. The side opening 210 is opened on the surface of the side-opening cylinder 209 to make way for the threaded cylinder 216. The inner anti-deviation groove 211 is opened on the surface of the side-opening cylinder 209, and the inner wall of the inner anti-deviation groove 211 is slidably connected to the surface of the first anti-deviation pin 205 to ensure that the first anti-deviation pin 205 guides the side-opening cylinder 209. The support platform 212 is fixedly sleeved on the surface of the side-opening cylinder 209. The ball bearing 213 is slidably connected to one side of the support platform 212 to reduce friction when the lifting cylinder 201 is switched.

[0027] The lifting mechanism also includes: The drive shaft 214, driven gear 215, threaded cylinder 216, and threaded platform 217 are connected to the inside of the side-opening cylinder 209 via bearings. The drive shaft 214 transmits power between the driven gear 215 and the threaded cylinder 216. The driven gear 215 is fixedly sleeved on the bottom end of the drive shaft 214 to cooperate with the internal gear transmission sleeve 407 to transmit the power of the driving gear 404. The threaded cylinder 216 is fixedly sleeved on the surface of the drive shaft 214 and is located inside the side-opening cylinder 209 to drive the threaded platform 217 to rise and fall. The threaded platform 217 is fixedly connected to the inside of the lifting cylinder 201, and the inner wall of the threaded platform 217 meshes with the surface of the threaded cylinder 216 to cooperate with the threaded cylinder 216 to convert the rotational motion into linear motion. By using the lifting cylinder 201, connecting platform 202, clamp 203, guide seat 204, first anti-deviation pin 205, compression spring 206, anti-deviation ring 207, second anti-deviation pin 208, side opening cylinder 209, side opening 210, inner anti-deviation sliding groove 211, support platform 212, ball bearing 213, transmission shaft 214, driven gear 215, threaded cylinder 216, and threaded platform 217, the clamp 203 and lifting cylinder 201 can be raised and lowered by the rotation of the threaded cylinder 216 during use. This allows the lifting cylinder 201, which has reached the designated work position, to rise out of the positioning plate 303 for operation or to lower the positioning plate 303 for storage.

[0028] Among them, the protective guide mechanism includes: The device comprises a housing 301, a connecting flange 302, a positioning plate 303, a limiting ring 304, and a rubber ring 305. The housing 301 is rotatably connected to the surface of the turntable 101 via bearings to support the turntable 101. The connecting flange 302 is integrally mounted on the top surface of the housing 301 to ensure external connection of the device. The positioning plate 303 is fixedly connected to the inner wall of the housing 301, and the interior of the positioning plate 303 is rotatably connected to the top of the conversion shaft 103. The limiting ring 304 is fixedly connected to the interior of the positioning plate 303 to provide radial support for the raised lifting cylinder 201. The rubber ring 305 is fixedly connected to the inner wall of the limiting ring 304 to form a seal after the lifting cylinder 201 rises.

[0029] The protective guide mechanism also includes: The support frame 306, the first outer anti-deviation groove 307, the support core 308, and the second outer anti-deviation groove 309 are fixedly connected to the bottom of the turntable 101. The first outer anti-deviation groove 307 is opened inside the support frame 306. The support core 308 is fixedly sleeved on the surface of the conversion shaft 103. The second outer anti-deviation groove 309 is opened on the surface of the support core 308. The inner wall of the second outer anti-deviation groove 309 and the inner wall of the first outer anti-deviation groove 307 are slidably connected to the surface of the anti-deviation ring 207 to cooperate with the anti-deviation ring 207 to guide the lifting cylinder 201.

[0030] The protective guide mechanism also includes: The inner support plate 310, the outer support ring seat 311, and the outer support inner ring 312 are provided. The inner support plate 310 is rotatably connected to the surface of the conversion shaft 103 via a bearing. The outer support ring seat 311 is fixedly connected to the inner wall of the outer shell 301. The outer support inner ring 312 is rotatably connected to the inner wall of the outer support ring seat 311 via a bearing. The surfaces of the outer support inner ring 312 and the inner support plate 310 are both in rolling contact with the surface of the side opening cylinder 209, so that the outer support inner ring 312 and the inner support plate 310 form an annular guide for the side opening cylinder 209. By using the outer shell 301, connecting flange 302, positioning plate 303, limit ring 304, rubber ring 305, support frame 306, first outer anti-deviation groove 307, support core 308, second outer anti-deviation groove 309, inner support plate 310, outer support ring seat 311, and outer support inner ring 312, the positioning plate 303 can limit the rising lifting cylinder 201 during use, ensuring that the designated clamp 203 can work stably.

[0031] The lifting drive mechanism includes: The side mounting base 401, the lifting drive motor 402, the sliding guide shaft 403, and the drive gear 404 are fixedly connected inside the housing 301. The lifting drive motor 402 is fixedly installed at the bottom of the side mounting base 401. The sliding guide shaft 403 is rotatably connected to the output end of the lifting drive motor 402 through a coupling to drive the drive gear 404 to rotate. The drive gear 404 is fixedly sleeved on the top end of the sliding guide shaft 403 to cooperate with the internal gear transmission sleeve 407 to transmit the power of the lifting drive motor 402 to the driven gear 215.

[0032] The lifting drive mechanism also includes: The assembly includes a motor 405, a threaded column 406, an internal gear transmission sleeve 407, an inner chamfer 408, and a threaded lifting block 409. The motor 405 is fixedly installed at the bottom of the side mounting base 401. The threaded column 406 is fixedly installed at the output end of the motor 405 via a coupling to drive the threaded lifting block 409 to rise and fall. The internal gear transmission sleeve 407 is movably sleeved on the surface of the drive gear 404 and the sliding guide shaft 403 to convert the transmission between the drive gear 404 and the driven gear 215. The inner chamfer 408 is integrally set on the top of the internal gear transmission sleeve 407 to guide the docking of the driven gear 215 and the internal gear transmission sleeve 407. The threaded lifting block 409 is rotatably connected to the surface of the internal gear transmission sleeve 407 via a bearing, and the inner wall of the threaded lifting block 409 is threadedly connected to the surface of the threaded column 406 to convert the rotational motion of the threaded column 406 into the lifting motion of the internal gear transmission sleeve 407. By using the side mounting base 401, lifting drive motor 402, sliding guide shaft 403, drive gear 404, docking motor 405, threaded column 406, internal gear transmission sleeve 407, inner chamfer 408, and threaded lifting block 409, the lifting drive motor 402 can generate torque when the threaded cylinder 216 rotates, and the forward and reverse rotation of the docking motor 405 can control the engagement and disengagement of the internal gear transmission sleeve 407 and the driven gear 215.

[0033] Working principle: When changing the fixture 203, the change motor 102 is started, and the change motor 102 drives the change shaft 103 to rotate. The change shaft 103 drives the support core 308 and the turntable 101 on the surface to rotate. When the turntable 101 rotates, it rotates the different lifting cylinders 201 to the bottom of the limit ring 304, thereby realizing the conversion of different specifications of fixtures 203 on the surface of different lifting cylinders 201.

[0034] When the lifting clamp 203 is in operation, after the corresponding clamp 203 reaches below the limit ring 304, the lifting drive motor 402 is started. The lifting drive motor 402 drives the drive gear 404 and the internal gear transmission sleeve 407 to rotate via the sliding guide shaft 403. Then, the docking motor 405 is started, which drives the threaded column 406 to rotate. When the threaded column 406 rotates, it pushes the internal gear transmission sleeve 407 to rise and fall. The rising of the internal gear transmission sleeve 407 enables it to mesh with the corresponding driven gear 215, realizing the transmission between the drive gear 404 and the driven gear 215. The descent of the internal gear transmission sleeve 407 allows it to separate from the corresponding driven gear 215, thus releasing the transmission between the driving gear 404 and the driven gear 215. After the internal gear transmission sleeve 407 meshes with the driven gear 215, the rotation of the driving gear 404 is transmitted to the driven gear 215 through the internal gear transmission sleeve 407, causing the transmission shaft 214 to rotate. When the transmission shaft 214 rotates, it drives the threaded cylinder 216 to rotate. When the threaded cylinder 216 rotates, it pushes the threaded table 217 to rise and fall. The rising and falling of the threaded table 217 allows the lifting cylinder 201 to drive the clamp 203 to rise and fall.

[0035] In use, firstly, the clamp 203 is lowered so that it retracts below the positioning plate 303. Then, the docking motor 405 is started to separate the driving gear 404 from the driven gear 215. Next, the conversion motor 102 is started to switch to another size clamp 203 to the bottom of the limit ring 304. Then, the docking motor 405 and the lifting drive motor 402 are started to dock the driving gear 404 with the new driven gear 215. The lifting drive motor 402 pushes the other size clamp 203 up above the positioning plate 303, and the lifting cylinder 201 is sealed by the rubber ring 305, thereby realizing the replacement of clamps 203 of different sizes.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-station adaptive clamping and positioning structure for a welding robot, characterized in that, include: A conversion mechanism is used to convert the position of each lifting mechanism that is equipped with clamps (203) of different specifications; The lifting mechanism is a plurality of lifting mechanisms, and the plurality of lifting mechanisms are arranged around the inside of the conversion mechanism to push the clamp (203) to rise and fall when the clamp (203) is located below the limit ring (304) in the corresponding process. A protective guide mechanism is disposed on the surface of the conversion mechanism to guide and protect the lifting mechanism; and, The lifting drive mechanism is located inside the protective guide mechanism and below the lifting mechanism, so that when the corresponding lifting mechanism is located below the limit ring (304) in the corresponding process, the lifting mechanism is driven to lift. The conversion mechanism includes a turntable (101), a conversion motor (102), a conversion shaft (103), and inner support rings (104). The conversion motor (102) is located below the turntable (101) to drive the turntable (101) to rotate. The conversion shaft (103) is fixedly installed at the output end of the conversion motor (102) via a coupling. There are multiple inner support rings (104), and all of the multiple inner support rings (104) are fixedly connected inside the turntable (101). The lifting mechanism includes: a lifting cylinder (201), a connecting platform (202), a clamp (203), a guide seat (204), a first anti-deviation pin (205), a compression spring (206), an anti-deviation ring (207), and a second anti-deviation pin (208). The lifting cylinder (201) is slidably connected to the inside of the inner support ring (104). The connecting platform (202) is fixedly connected to the inner wall of the top of the lifting cylinder (201) to support the clamp (203). The clamp (203) is fixedly installed on the top of the connecting platform (202), and each... The clamps (203) above each lifting cylinder (201) have different specifications to accommodate different workpieces. The guide seat (204) is fixedly connected to the inner wall of the bottom of the lifting cylinder (201) to support the side-opening cylinder (209). The first anti-deviation pin (205) is integrally set on the inner wall of the guide seat (204) to prevent relative torsion between the side-opening cylinder (209) and the guide seat (204). The compression spring (206) is movably sleeved on the surface of the lifting cylinder (201) to prevent the lifting cylinder (201) from easily jumping when it is stored. The protective guide mechanism includes: a housing (301), a connecting flange (302), a positioning plate (303), a limiting ring (304), and a rubber ring (305). The housing (301) is rotatably connected to the surface of the turntable (101) via a bearing to support the turntable (101). The connecting flange (302) is integrally set on the top surface of the housing (301) to ensure external connection of the device. The positioning plate (303) is fixedly connected to the inner wall of the housing (301), and the interior of the positioning plate (303) is rotatably connected to the top end of the conversion shaft (103). The limiting ring (304) is fixedly connected to the interior of the positioning plate (303) to provide radial support for the raised lifting cylinder (201). The rubber ring (305) is fixedly connected to the inner wall of the limiting ring (304) to form a seal after the lifting cylinder (201) rises.

2. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 1, characterized in that, The conversion shaft (103) is fixedly installed at the output end of the conversion motor (102) via a coupling to realize the transmission between the turntable (101) and the conversion motor (102) and the second outer anti-deviation groove (309). Multiple inner support rings (104) are distributed around the conversion shaft (103) as the axis of symmetry to form radial limit on each lifting cylinder (201).

3. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 2, characterized in that, The anti-deviation ring (207) is fixedly sleeved on the surface of the lifting cylinder (201), and the second anti-deviation pin (208) is integrally set on the surface of the anti-deviation ring (207) to cooperate with the support frame (306) and the support core (308) to guide the lifting cylinder (201).

4. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 3, characterized in that, The lifting mechanism also includes: The device comprises a side-opening cylinder (209), a side opening (210), an inner anti-deviation groove (211), a support platform (212), and a ball bearing (213). The side-opening cylinder (209) is slidably connected to the inside of the guide seat (204) to guide the lifting cylinder (201). The side opening (210) is opened on the surface of the side-opening cylinder (209) to make way for the threaded cylinder (216). The inner anti-deviation groove (211) is opened on the surface of the side-opening cylinder (209), and the inner wall of the inner anti-deviation groove (211) is slidably connected to the surface of the first anti-deviation pin (205) to ensure that the first anti-deviation pin (205) guides the side-opening cylinder (209). The support platform (212) is fixedly sleeved on the surface of the side-opening cylinder (209). The ball bearing (213) is slidably connected to one side of the support platform (212) to reduce friction when the lifting cylinder (201) is switched.

5. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 4, characterized in that, The lifting mechanism also includes: The drive shaft (214), driven gear (215), threaded cylinder (216), and threaded platform (217) are connected to the inside of the side-opening cylinder (209) via bearings. The drive shaft (214) drives the driven gear (215) and the threaded cylinder (216) through transmission. The driven gear (215) is fixedly sleeved on the bottom end of the drive shaft (214) to cooperate with the internal gear transmission sleeve (407) to transmit the power of the driving gear (404). The threaded cylinder (216) is fixedly sleeved on the surface of the drive shaft (214) and is located inside the side-opening cylinder (209) to drive the threaded platform (217) to rise and fall. The threaded platform (217) is fixedly connected inside the lifting cylinder (201) and the inner wall of the threaded platform (217) meshes with the surface of the threaded cylinder (216) to cooperate with the threaded cylinder (216) to convert the rotational motion into linear motion.

6. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 5, characterized in that, The protective guide mechanism also includes: The support frame (306), the first outer anti-deviation groove (307), the support core (308), and the second outer anti-deviation groove (309) are fixedly connected to the bottom of the turntable (101). The first outer anti-deviation groove (307) is opened inside the support frame (306). The support core (308) is fixedly sleeved on the surface of the conversion shaft (103). The second outer anti-deviation groove (309) is opened on the surface of the support core (308). The inner wall of the second outer anti-deviation groove (309) and the inner wall of the first outer anti-deviation groove (307) are slidably connected to the surface of the anti-deviation ring (207) to cooperate with the anti-deviation ring (207) to guide the lifting cylinder (201).

7. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 6, characterized in that, The protective guide mechanism also includes: The inner support plate (310), the outer support ring seat (311), and the outer support inner ring (312) are provided. The inner support plate (310) is rotatably connected to the surface of the conversion shaft (103) via a bearing. The outer support ring seat (311) is fixedly connected to the inner wall of the outer shell (301). The outer support inner ring (312) is rotatably connected to the inner wall of the outer support ring seat (311) via a bearing. The surfaces of the outer support inner ring (312) and the inner support plate (310) are both rolledly connected to the surface of the side opening cylinder (209) so as to form an annular guide for the side opening cylinder (209) through the outer support inner ring (312) and the inner support plate (310).

8. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 7, characterized in that, The lifting drive mechanism includes: The components include a side mounting base (401), a lifting drive motor (402), a sliding guide shaft (403), and a drive gear (404). The side mounting base (401) is fixedly connected inside the housing (301). The lifting drive motor (402) is fixedly installed at the bottom of the side mounting base (401). The sliding guide shaft (403) is rotatably connected to the output end of the lifting drive motor (402) via a coupling to drive the drive gear (404) to rotate. The drive gear (404) is fixedly sleeved on the top end of the sliding guide shaft (403) to cooperate with the internal gear transmission sleeve (407) to transmit the power of the lifting drive motor (402) to the driven gear (215).

9. The multi-station adaptive clamping and positioning structure for a welding robot according to claim 8, characterized in that, The lifting drive mechanism also includes: The assembly includes a docking motor (405), a threaded column (406), an internal gear transmission sleeve (407), an internal countersunk end (408), and a threaded lifting block (409). The docking motor (405) is fixedly mounted on the bottom of the side connector (401). The threaded column (406) is fixedly mounted on the output end of the docking motor (405) via a coupling to drive the threaded lifting block (409) to rise and fall. The internal gear transmission sleeve (407) is movably sleeved on the surface of the drive gear (404) and the sliding guide shaft (403) to switch the drive gear (408). 4) Transmission between driven gear (215): The inner chamfer (408) is integrally set on the top of the internal gear transmission sleeve (407) to guide the docking of driven gear (215) and internal gear transmission sleeve (407). The threaded lifting block (409) is rotatably connected to the surface of internal gear transmission sleeve (407) through a bearing, and the inner wall of the threaded lifting block (409) is threadedly connected to the surface of the threaded column (406) to convert the rotational motion of the threaded column (406) into the lifting motion of the internal gear transmission sleeve (407).

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