A self-positioning metal shell welding device

Abstract

This invention discloses a self-positioning metal shell welding device, relating to the field of metal welding technology. The welding device includes a welding platform, a multi-degree-of-freedom robotic arm, and a welding component installed at the end of the robotic arm. A welding support component is mounted on the welding platform, and the robotic arm is located on one side of the support component. The welding component includes an image acquisition unit, a gripper, and an electric rod that moves the gripper. The image acquisition unit acquires image data of the weld seam of the weld and transmits it to the control system. The control system analyzes the image data and plans the positions of multiple spot welds and the welding start point, achieving automatic positioning during welding. The gripper holds the welding gun / head, and the electric rod moves the gripper to ensure that the welding center point of the installed / replaced welding gun / head conforms to the setting requirements in the control system, keeping all welding guns / heads concentric. This improves welding accuracy and eliminates the need for manual alignment.

Description

Technical Field

[0001] This invention relates to the field of metal welding technology, specifically a self-positioning metal shell welding device. Background Technology

[0002] As the core load-bearing and sealing component of gas-insulated switchgear, the GIS switch housing mainly undertakes the functions of insulation protection, gas sealing and structural support. Its welding quality directly determines the airtightness, operational stability and service life of GIS equipment, and is a key process in the production and processing of high-voltage electrical equipment.

[0003] The existing clamping mechanism of the dedicated welding equipment for GIS switch housings has a fixed structure and a single clamping method, which can only be adapted to welding guns and welding heads of fixed specifications and models, resulting in poor equipment versatility. In actual production, to meet the processing requirements of different GIS housing specifications and different weld seam structures, welding guns or welding heads of different sizes need to be frequently changed according to process requirements. After the welding head is disassembled and replaced, the welding center of the old and new welding heads is prone to radial misalignment, making it difficult to maintain welding concentricity and directly compromising the welding reference accuracy. The existing clamping mechanism cannot automatically align the welding center point, requiring manual fine-tuning of the clamping mechanism and calibration of the welding center point. The manual alignment method is cumbersome and time-consuming, significantly reducing the welding processing efficiency of GIS housings. During welding, it is difficult to automatically plan the spot welding position and welding start point, and the entire welding operation relies on manual positioning and calibration, resulting in a low degree of equipment automation. Summary of the Invention

[0004] The purpose of this invention is to provide a self-positioning metal shell welding device to solve the problems in the prior art where the clamping mechanism cannot automatically align with the welding center point after changing the welding gun / welding head, and the clamping method is limited.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a self-positioning metal shell welding device, comprising a multi-degree-of-freedom robotic arm and a welding component, wherein the welding component comprises a carrier plate, and the carrier plate is provided with an image acquisition unit, a rotating component, a moving structure and a gripper, wherein the fixed end of the rotating component is connected to the end effector of the robotic arm, and the output end of the rotating component is connected to the carrier plate, and the image acquisition unit acquires images of the weld and transmits the acquired image data to the control system; A frame is slidably installed on the inner side of the gripper. The frame is slidably connected to the carrier plate. A push-pull cylinder is provided on the frame to drive the gripper to move linearly. A clamping structure that cooperates with one end of the gripper and one end of the frame to generate clamping force is installed. The moving structure causes the frame to move linearly on the carrier plate when powered. Distance sensors are installed on both sides of the holder and the frame on the carrier plate, and these sensors are connected to the control system. The moving structure is an electric rod, which is also connected to the control system. The holder and frame apply clamping force through the clamping structure to hold the welding gun / head. The rotating component is a motor, specifically an external rotor motor, which is connected to the control system. The image acquisition unit is a device capable of acquiring image data, such as a CCD camera or image sensor. This unit acquires image data of the weld seam of the welded part and transmits it to the control system. The control system analyzes the image data and plans multiple spot welding positions and welding start points, achieving automatic positioning during welding. Before welding, the rotating component rotates the carrier plate 180° on the robotic arm, positioning the image acquisition unit in front of the holder's moving direction. The image acquisition unit acquires image data of the weld seam of the welded part and transmits it to the control system. The control system analyzes the image data and plans multiple spot welding positions. Then, the clamping structure holds the welding gun / head and performs spot welding on the weld seam. Before welding, the control system analyzes the image data and plans the starting point for welding. The clamping structure holds the welding gun / head to hold the weld seam. The distance sensor collects data on the relative displacement between the clamp and the frame and transmits it to the control system. Based on the data feedback, the control system controls the electric lever to move the clamp, ensuring that the welding center point of the installed / replaced welding gun / head conforms to the setting requirements in the control system. This ensures that all welding guns / heads remain concentric, improving welding accuracy and eliminating the need for manual alignment.

[0006] The clamp has a C-shaped cross-section. The clamping structure includes two symmetrically mounted retaining rings at one end of the clamp, and a stop post at one end of the frame. The end face of the stop post away from the frame is a concave arc, and a sensor is installed at the lower end of the concave surface. A pressure sensor is installed at the connection between the push-pull cylinder and the clamp. When the welding gun / head is not clamped, the other end face of the clamp is flush with the other end of the frame, and the retaining rings and the stop post are in contact. Before placing the welding torch / head between the retaining ring and the abutment, the control system operates a push-pull cylinder to move the gripper away from the distance sensor, opening the clamping space between the retaining ring and the abutment. Then, the welding torch / head is placed between the retaining ring and the abutment. The sensor on the concave surface detects the welding torch / head and transmits a signal to the control system. The control system, based on the set delay, activates the push-pull cylinder, causing the gripper to move in the opposite direction with the retaining ring. This allows the two retaining rings and the abutment to engage and clamp the welding torch / head. The pressure sensor transmits pressure data to the control system, which then controls the push-pull cylinder based on the pressure feedback. Once the set pressure value is reached, the push-pull cylinder stops. After the gripper resets, the distance sensor transmits the displacement difference between the gripper and the frame to the control system. This displacement difference is the diameter of the welding torch / head. The control system calculates the welding center point using this displacement difference, obtaining its coordinates. Then, based on the set welding center point coordinates input into the control system, it calculates the frame's movement distance. This movement distance moves the welding center point of the welding torch / head to the set welding center point coordinates. The control system controls the output power of the moving structure to move the frame a certain distance so that the welding center point of the welding gun / welding head coincides with the set welding center point.

[0007] The frame is provided with a through groove, and the push-pull cylinder is horizontally installed in the through groove. The output end of the push-pull cylinder is connected to a push-pull plate through a pressure sensor, and the push-pull plate is connected to the inner wall of the clamp.

[0008] The clamp has a C-shaped cross-section, and one end of the frame has an inward mounting groove. The clamping structure includes two retaining rings symmetrically installed at one end of the clamp, a stop post installed on the outside of the frame mounting groove, and two jaws symmetrically installed in the mounting groove. A guide rod is installed in the mounting groove, and the jaws are slidably installed on the guide rod. A driving component that provides clamping force to the two jaws is installed in the mounting groove, and a locking component is installed on one side of each jaw in the mounting groove. The two grippers are located between the two retaining rings; The abutment is located between the two grippers. The end face of the abutment away from the frame is an arc-shaped concave surface. A sensor is provided at the lower end of the concave surface of the abutment. A pressure sensor is provided at the connection between the push-pull cylinder and the gripper. The gripper has a power structure inside that provides power to the locking element, which fixes the distance between the two grippers. After the clamping space between the retaining ring and the abutment is opened, the distance between the two grippers is first opened manually or by the drive mechanism. Then, the welding gun / welding head is placed between the two grippers. Under the power support of the drive mechanism, the two grippers clamp the middle of the welding gun / welding head. The gripper then moves the retaining ring, causing the retaining ring to engage with the abutment, thus clamping both ends of the welding gun / welding head. The clamping of the welding gun / welding head from the middle by the grippers and the clamping of the retaining ring and the abutment from both ends makes the clamping and installation of the welding gun / welding head more stable.

[0009] The locking component includes a movable slide rail with "T"-shaped supports rotatably mounted at both ends, a "T"-shaped vertical slide rail located on the wall of the mounting groove, and a fastening block that is slidably connected to the movable slide rail and the vertical slide rail. One end of the gripper protrudes outward to form an arc-shaped gripping groove, and the other end is plate-shaped. The plate-shaped end of the gripper is slidably connected to the guide rod and is provided with an adjustment groove. The support at one end of the movable slide rail is slidably installed in the adjusting slide groove, and the support at the other end is fixed on the wall of the mounting groove and located below the vertical slide rail. The movable slide rail is provided with a "T" shaped groove, and a roller is installed in the "T" shaped groove. The roller is connected to the inclined end face of the fastening block through a bracket. A power-assisting spring is installed between one end of the fastening block and the upper wall of the mounting groove. A lever penetrating the frame is provided at one end of the fastening block. A limiting groove is provided on the frame for the lever to slide up and down. One end of the lever is coupled to the power structure for transmission. When the gripper slides on the guide rod, the movable slide rail rotates around another support by adjusting the slide groove and the support. Since the length of the movable slide rail is fixed, the support moves vertically in the adjusting slide groove during rotation. When the support moves downward in the adjusting slide groove, the movable slide rail rotates downward. Driven by the roller, the fastening block moves downward along the vertical slide rail, and the lever moves downward simultaneously. Conversely, when the movable slide rail rotates upward, the fastening block moves upward under the drive of the roller and the pull of the spring, and the lever moves upward. Before the grippers hold the welding gun / head, the distance between the two grippers needs to be adjusted. The grippers will move towards the side wall of the mounting slot. During the movement, the movable slide rail rotates upward. After the grippers hold the welding gun / head, the power structure applies downward pressure to the lever. The lever transmits the pressure to the fastening block, causing the fastening block to press one end of the movable slide rail downward, thereby causing the two grippers to come closer together and making the gripping more secure.

[0010] Rubber pads are provided on both of the grippers and the two retaining rings. The rubber pads prevent the grippers and retaining rings from damaging the welding gun / welding head during clamping. At the same time, the compressibility of the rubber pads acts as a lever to move the fastening block downwards, causing the grippers to come closer together under the pressure of the movable slide rail, providing support and making the gripping more secure.

[0011] The driving component is a spring sleeved on the guide rod, and the spring is located between the gripper and the wall of the mounting groove; The gripper is symmetrically equipped with extension plates. The power structure consists of a pressure groove and a clearance groove. The pressure groove is composed of an arc-shaped groove and a straight groove. One end of the arc-shaped groove is connected to the clearance groove, and the other end of the arc-shaped groove bends downward and connects to the straight groove. Part of the straight groove is opened on the extension plate. One end of the lever is located in the clearance groove and is provided with a rounded corner. The spring provides power for the jaws to grip the welding gun / welding head, so that the jaws grip the welding gun / welding head. When the jaws grip the welding gun / welding head, and the retaining ring moves towards the abutment column under the action of the gripper, the lever moves from the clearance groove to the arc-shaped groove of the pressure groove. As the gripper continues to move, with the cooperation of the arc-shaped groove and the rounded corner end, the lever moves downward a certain distance, causing the lever to drive the fastening block to move downward. The fastening block exerts a squeezing force on the movable slide rail, causing the end of the movable slide rail connected to the jaws to move downward, thereby causing the two jaws to come closer together and the rubber pad to be compressed. The locking mechanism and power structure not only make the two jaws hold the welding gun / head more securely, but also provide power for the jaws to hold the welding gun / head.

[0012] A sleeve is provided in the middle of the carrier plate. The rotating component is a motor, specifically an external rotor motor. The fixed end of the motor is connected to the end effector of the robotic arm via a vertical rod, and the output end of the motor is connected to the sleeve. The motor outputs power to rotate the carrier plate 180° around the vertical rod, thereby changing the relative positions of the image acquisition unit and the gripper.

[0013] Compared with the prior art, the beneficial effects of the present invention are: the image acquisition unit is used to acquire image data of the weld seam of the welded part and transmit it to the control system. The control system analyzes the image data and plans the positions of multiple spot welds and the starting point of welding, so as to realize automatic positioning during welding and improve welding accuracy.

[0014] After replacing the welding gun / head with a different size, the control system analyzes the distance between the new welding center point and the set welding center point by measuring the relative distance between the holder and the frame through a distance sensor. The electric rod moves the holder so that the welding center point of the installed / replaced welding gun / head meets the set requirements in the control system, ensuring that all welding guns / heads are always concentric. This improves welding accuracy and eliminates the need for manual alignment. Attached Figure Description

[0015] Figure 1 This is a perspective view of the overall structure of the present invention; Figure 2 This is a schematic diagram showing the positions of the retaining ring and the abutment of the present invention; Figure 3 This is a half-sectional view of the connection between the push-pull cylinder and the clamp of the present invention; Figure 4This is a schematic diagram showing the position distribution of the retaining ring and gripper of the present invention; Figure 5 This is a perspective view of the connection between the rotating component and the carrier plate of the present invention; Figure 6 This is a perspective view of the connection between the gripper and the frame of the present invention; Figure 7 This is a perspective view of the connection between the gripper and the locking member of the present invention; Figure 8 This is a schematic diagram of the connection between the gripper and the guide rod of the present invention; Figure 9 This is an exploded view showing the connection between the gripper, frame, retaining ring, gripper claw, and locking element of the present invention. Figure 10 For the present invention Figure 9 A magnified view of a portion of region A in the middle.

[0016] In the diagram: 1. Welding platform; 2. Robotic arm; 3. Support frame; 4. Vertical rod; 5. Welding component; 6. Support component; 7. Carrier plate; 8. Image acquisition unit; 9. Gripper; 10. Distance sensor; 11. Electric rod; 12. Gripper; 13. Snap ring; 14. Motor; 15. Frame; 16. Guide rod; 17. Spring; 18. Lever; 19. Vertical slide rail; 20. Fastening block; 21. Movable slide rail; 22. Push-pull cylinder; 23. Extension plate; 24. Concentric slide rail; 25. Support column; 26. Limiting groove; 27. Pressing groove; 28. Clearance groove; 29. ​​Push-pull plate. Detailed Implementation

[0017] 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.

[0018] like Figure 1 - Figure 3 The first embodiment of the present invention shown is a self-positioning metal shell welding device, which includes a welding platform 1, a multi-degree-of-freedom robotic arm 2 and a welding component 5. The welding platform 1 is provided with a slide rail and a support component 6. The metal shell to be welded is placed on the roller structure of the support component 6. The robotic arm 2 is mounted on the slide rail. The execution end of the robotic arm 2 is equipped with a bracket 3. One end of the bracket 3 is equipped with a vertical rod 4. The welding component 5 includes a carrier plate 7, on which an image acquisition unit 8, a rotating component, a moving structure, and a clamp 9 are mounted. The fixed end of the rotating component is connected to the vertical rod 4, and the output end of the rotating component is connected to the carrier plate 7. The rotating component outputs rotational power, causing the carrier plate 7 to rotate around the vertical rod 4.

[0019] Image acquisition unit 8 acquires images of the weld and transmits the acquired image data to the control system; A frame 15 is slidably mounted on the inner side of the gripper 9. The frame 15 is slidably connected to the carrier plate 7 via a concentric slide rail 24. The gripper 9 has a C-shaped cross-section, and a through groove is provided on the frame 15. A push-pull cylinder 22 is horizontally installed in the through groove. The output end of the push-pull cylinder 22 is connected to a push-pull plate 29 via a pressure sensor. The push-pull plate 29 is connected to the inner wall of the gripper 9. The push-pull cylinder 22 drives the gripper 9 to move linearly on the frame 15.

[0020] One end of the clamp 9 and one end of the frame 15 are equipped with clamping structures that cooperate to generate clamping force. The clamp 9 and the frame 15 apply clamping force through the clamping structures to clamp the welding gun / welding head.

[0021] When the power is output, the moving structure causes the frame 15 to move linearly on the carrier plate 7. Distance sensors 10 are provided on both the gripper 9 and one side of the frame 15 on the carrier plate 7. The distance sensors 10 are connected to the control system.

[0022] In this embodiment, the moving structure is an electric rod 11, which is connected to the control system.

[0023] In this embodiment, the image acquisition unit 8 is a device such as a CCD camera or image sensor that can acquire image data. The image acquisition unit 8 is used to acquire image data of the weld seam of the welded part and transmit it to the control system. The control system analyzes the image data and plans the positions of multiple spot welds and the starting point of welding to realize automatic positioning during welding.

[0024] The clamping structure includes two retaining rings 13 symmetrically installed at one end of the clamp 9, and a stop post 25 installed at one end of the frame 15. The end face of the stop post 25 away from the frame 15 is an arc-shaped concave surface, and a sensor is provided at the lower end of the concave surface of the stop post 25.

[0025] The working steps of this embodiment are as follows: Before the welding gun / head is clamped, the other end face of the clamp 9 is flush with the other end of the frame 15, and the retaining ring 13 and the abutment 25 are in contact. Before placing the welding gun / head, the control system operates the push-pull cylinder 22 to move the clamp 9 away from the distance sensor 10, opening the clamping space between the retaining ring 13 and the abutment 25. Then, the welding gun / head is placed between the retaining ring 13 and the abutment 25. After the sensor on the concave surface detects the welding gun / head, it transmits a signal to the control system. The control system starts the push-pull cylinder 22 after a delay according to the set delay, causing the clamp 9 to move in the opposite direction with the retaining ring 13, so that the two retaining rings 13 and the abutment 25 cooperate to clamp the welding gun / head. The pressure sensor sends pressure data to the control system, and the control system controls the push-pull cylinder 22 to work according to the pressure feedback. After reaching the set pressure value, the push-pull cylinder 22 stops working.

[0026] After the holder 9 resets, the distance sensor 10 transmits the displacement difference between the holder 9 and the frame 15 to the control system. This displacement difference is the diameter of the welding gun / head. The control system calculates the welding center point using this displacement difference, thus obtaining its coordinates. Then, based on the preset welding center point coordinates input into the control system, it calculates the moving distance of the frame 15. This moving distance moves the welding center point of the welding gun / head to the preset welding center point coordinates. The control system controls the moving structure to output power, moving the frame 15 a certain distance so that the welding center point of the welding gun / head coincides with the preset welding center point.

[0027] The metal shell to be welded is placed on the roller structure of the support component 6. Before welding, the rotating component rotates the carrier plate 7 180° on the robotic arm 2, so that the image acquisition unit 8 is in front of the moving direction of the gripper 9. The robotic arm 2 drives the carrier plate 7 and the image acquisition unit 8 to move along the metal shell. During this process, the image acquisition unit 8 acquires image data of the weld seam of the welded part and transmits it to the control system. The control system analyzes the image data and plans multiple spot welding positions. Then, the clamping structure holds the welding gun / welding head to perform spot welding on the weld seam.

[0028] After the spot welding position is planned, robotic arm 2 moves the welding gun / head to perform spot welding. After spot welding is completed, the control system analyzes the starting point of the welding based on image data. Robotic arm 2 then performs the welding operation with the welding gun / head. After welding is completed, robotic arm 2 returns to its original position with the welding gun / head.

[0029] like Figure 4 - Figure 9 The second embodiment of the present invention shown is based on the first embodiment, and provides a clamping structure that is different from the first embodiment. The difference is that this embodiment adds a clamping method to make the clamping more stable.

[0030] Specifically, the clamp 9 has a "C" shaped cross section, and one end of the frame 15 has an inward mounting groove. The clamping structure includes two retaining rings 13 symmetrically installed at one end of the clamp 9, a stop post 25 installed on the outside of the mounting groove of the frame 15, and two grippers 12 symmetrically installed in the mounting groove. A guide rod 16 is installed in the mounting groove, and the grippers 12 are slidably installed on the guide rod 16. A drive component that provides clamping force to the two grippers 12 is installed in the mounting groove. A locking component is installed on one side of each gripper 12 in the mounting groove. The two grippers 12 are located between the two retaining rings 13; The abutment 25 is located between the two grippers 12. The end face of the abutment 25 away from the frame 15 is an arc-shaped concave surface. A sensor (not shown in the figure) is provided at the lower end of the concave surface of the abutment 25. A pressure sensor (not shown in the figure) is provided at the connection between the push-pull cylinder 22 and the gripper 9. The gripper 9 has a power structure inside that provides power to the locking element, which fixes the distance between the two grippers 12.

[0031] The locking component includes a movable slide rail 21 with "T"-shaped supports rotatably mounted at both ends, a "T"-shaped vertical slide rail 19 located on the wall of the mounting groove, and a fastening block 20 that is slidably connected to the movable slide rail 21 and the vertical slide rail 19. One end of the gripper 12 protrudes outward to form an arc-shaped gripping groove, and the other end is plate-shaped. The plate-shaped end of the gripper 12 is slidably connected to the guide rod 16 and is provided with an adjustment groove. The support at one end of the movable slide rail 21 is slidably installed in the adjusting slide groove, and the support at the other end is fixed on the wall of the mounting groove and located below the vertical slide rail 19. The movable slide rail 21 is provided with a "T" groove, and a roller is installed in the "T" groove. The roller is connected to the inclined end face of the fastening block 20 through the bracket. A booster spring (not shown in the figure) is installed between one end of the fastening block 20 and the upper wall of the mounting groove. A lever 18 that passes through the frame 15 is provided at one end of the fastening block 20. A limiting groove 26 for the lever 18 to slide up and down is provided on the frame 15.

[0032] When the gripper 12 slides on the guide rod 16, it drives the movable slide rail 21 to rotate around another support by adjusting the slide groove and the support. Since the length of the movable slide rail 21 is fixed, the support moves vertically in the adjusting slide groove during the rotation. When the support moves downward in the adjusting slide, the movable slide rail 21 rotates downward, and the fastening block 20 moves downward along the vertical slide rail 19 under the drive of the roller, and the lever 18 moves downward simultaneously; conversely, when the movable slide rail 21 rotates upward, the fastening block 20 moves upward under the drive of the roller and the pull of the spring, and the lever 18 moves upward.

[0033] In this embodiment, the driving component is an electric push rod connected to the gripper 12. The fixed end of the electric push rod is installed on the wall of the mounting groove, and the output end is connected to the gripper 12.

[0034] In this embodiment, a slot (not shown in the figure) is provided on the inner side of the clamp 9. The power structure is one of a cylinder, hydraulic cylinder, or electric push rod (not shown in the figure) installed in the slot. A pressure plate is installed at its output end. When the power structure is not working, its output end retracts, and the pressure plate does not contact the lever 18 to avoid affecting the vertical movement of the lever 18. When it is necessary to apply downward pressure to the lever 18, the output end of the power structure extends, the pressure plate contacts the lever 18, and applies pressure.

[0035] The working steps of this embodiment are as follows: After the clamping space between the retaining ring 13 and the abutment 25 is opened, the distance between the two grippers 12 is first increased by the driving component. Then, the welding gun / welding head is placed between the two grippers 12. Under the power support of the driving component, the two grippers 12 clamp the middle part of the welding gun / welding head. The rear clamper 9 drives the retaining ring 13 to move, so that the retaining ring 13 and the abutment 25 cooperate with each other to achieve clamping of both ends of the welding gun / welding head. Through the clamping of the middle by the grippers 12 and the clamping of both ends by the retaining ring 13 and the abutment 25, the clamping and installation of the welding gun / welding head is more stable.

[0036] During the opening process of the distance between the two grippers 12, the grippers 12 will move towards the side wall of the mounting slot. During the movement, the movable slide rail 21 rotates upward. After the welding gun / welding head is placed, the grippers 12 clamp the welding gun / welding head. The power structure applies downward pressure to the lever 18, and the lever 18 transmits the pressure to the fastening block 20, causing the fastening block 20 to press one end of the movable slide rail 21 downward and rotate downward, thereby causing the two grippers 12 to obtain a mutual force, making the grippers 12 clamp more securely.

[0037] Embodiment 3 of the present invention provides a gripper structure and retaining ring structure different from Embodiments 1 and 2. Specifically, rubber pads are provided on both grippers 12 and both retaining rings 13. The rubber pads prevent the grippers 12 and retaining rings 13 from damaging the welding gun / welding head during clamping. At the same time, the compressibility of the rubber pads allows the lever 18 to move the fastening block 20 downward, causing the grippers 12 to move closer together under the compression of the movable slide rail 21, providing support and making the gripper 12 clamp more securely.

[0038] like Figure 6 , Figure 9 - Figure 10 The fourth embodiment of the present invention shown provides a driving component and power structure that are different from those in the second embodiment. The difference is that this embodiment changes the power supply method and replaces the electric components with a mechanical structure, which saves energy consumption and reduces the manufacturing cost and maintenance cost of the control device.

[0039] Specifically, the driving component is a spring 17 sleeved on the guide rod 16, and the spring 17 is located between the gripper 12 and the wall of the mounting groove. The clamp 9 is symmetrically provided with extension plates 23. The power structure consists of a pressure groove 27 and a clearance groove 28. The pressure groove 27 is composed of an arc groove and a straight groove. One end of the arc groove is connected to the clearance groove 28, and the other end of the arc groove bends downward and connects to the straight groove. Some of the straight grooves are opened on the extension plate 23. One end of the lever 18 is located in the clearance groove 28 and is provided with rounded corners.

[0040] When lever 18 moves vertically, one end of lever 18 also moves in clearance groove 28.

[0041] The number and location of the grooves 27 are determined by the size and type of the general welding guns / heads available on the market or owned by the company; larger sizes result in higher groove locations, and vice versa; a variety of sizes determines the number of grooves 27.

[0042] Spring 17 provides power to gripper 12 to hold welding gun / head, so that gripper 12 clamps welding gun / head.

[0043] The working steps of this embodiment are as follows: When the distance between the two grippers 12 is opened, the distance between the two grippers 12 can be opened manually. After the welding gun / welding head is placed, the grippers 12 clamp the welding gun / welding head under the support of the spring 17.

[0044] As the retaining ring 13 moves towards the abutment 25 under the action of the clamp 9, the lever 18 moves from the clearance groove 28 to the arc-shaped groove of the pressure groove 27. With the continuous movement of the clamp 9, and in conjunction with the arc-shaped groove and the rounded end, the lever 18 slides downwards in the arc-shaped groove, causing it to move the fastening block 20 downwards. The fastening block 20 exerts a compressive force on the movable slide rail 21, causing one end of the movable slide rail 21 connected to the gripper 12 to move downwards, thereby bringing the two grippers 12 closer together and compressing the rubber pad. The lever 18 then moves into the straight groove, maintaining the compressive force. The retaining ring 13 and the abutment 25 cooperate to clamp the welding gun / welding head.

[0045] The locking mechanism and power structure not only make the two grippers 12 hold the welding gun / head more securely, but also provide power for the grippers 12 to hold the welding gun / head.

[0046] like Figure 5The fifth embodiment of the present invention, based on the first embodiment, provides a specific rotating component structure. Specifically, a sleeve is provided in the middle of the carrier plate 7, and the rotating component is a motor 14, specifically an external rotor motor. The fixed end of the motor 14 is connected to the end effector of the robotic arm 2 via a vertical rod 4, and the output end of the motor 14 is connected to the sleeve. The motor 14, through its power output, causes the carrier plate 7 to rotate 180° around the vertical rod 4, thereby changing the relative positions of the image acquisition unit 8 and the gripper 9.

[0047] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A self-positioning metal shell welding device, comprising a multi-degree-of-freedom robotic arm (2), characterized in that: It also includes a welding component (5), which includes a carrier plate (7). The carrier plate (7) is provided with an image acquisition unit (8), a rotating component, a moving structure, and a clamp (9). The fixed end of the rotating component is connected to the execution end of the robotic arm (2), and the output end of the rotating component is connected to the carrier plate (7). The image acquisition unit (8) acquires images of the weld and transmits the acquired image data to the control system. A frame (15) is slidably installed on the inner side of the clamp (9). The frame (15) is slidably connected to the carrier plate (7). A push-pull cylinder (22) is provided on the frame (15) to drive the clamp (9) to move linearly. A clamping structure that cooperates with each other to generate clamping force is installed at one end of the clamp (9) and one end of the frame (15). When the power is output, the moving structure causes the frame (15) to move linearly on the carrier plate (7). The carrier plate (7) is provided with distance sensors (10) on one side of the clamp (9) and the frame (15). The distance sensors (10) are connected to the control system. The clamp (9) has a "C" shaped cross section, and one end of the frame (15) is provided with an inward mounting groove; The clamping structure includes two retaining rings (13) symmetrically installed at one end of the clamp (9), a stop post (25) installed on the outside of the mounting groove of the frame (15), and two jaws (12) symmetrically installed in the mounting groove. A guide rod (16) is installed in the mounting groove, and the jaws (12) are slidably installed on the guide rod (16). A driving member that provides clamping force for the two jaws (12) is installed in the mounting groove. A locking member is installed on one side of each jaw (12) in the mounting groove. The two grippers (12) are located between the two retaining rings (13); The abutment (25) is located between the two grippers (12). The end face of the abutment (25) away from the frame (15) is an arc-shaped concave surface. A sensor is provided at the lower end of the concave surface of the abutment (25). A pressure sensor is provided at the connection between the push-pull cylinder (22) and the clamp (9). The gripper (9) has a power structure inside that provides power to the locking member, and the locking member fixes the distance between the two grippers (12); The locking component includes a movable slide rail (21) with "T"-shaped supports rotatably mounted at both ends, a "T"-shaped vertical slide rail (19) located on the wall of the mounting groove, and a fastening block (20) slidably connected to the movable slide rail (21) and the vertical slide rail (19). One end of the gripper (12) protrudes outward to form an arc-shaped gripping groove, and the other end is plate-shaped. The plate-shaped end of the gripper (12) is slidably connected to the guide rod (16) and is provided with an adjustment groove.

2. The self-positioning metal shell welding device according to claim 1, characterized in that: The support at one end of the movable slide rail (21) is slidably installed in the adjusting slide groove, and the support at the other end is fixed on the wall of the mounting groove and located below the vertical slide rail (19). The movable slide rail (21) is provided with a "T" groove, and a roller is installed in the "T" groove. The roller is connected to the inclined end face of the fastening block (20) through the bracket. A booster spring is installed between one end of the fastening block (20) and the upper wall of the mounting groove. A lever (18) penetrating the frame (15) is provided at one end of the fastening block (20). A limiting groove (26) for the lever (18) to slide up and down is provided on the frame (15). One end of the lever (18) is coupled to the power structure for transmission.

3. The self-positioning metal shell welding device according to claim 2, characterized in that: Rubber pads are provided on both of the grippers (12) and the two retaining rings (13).

4. The self-positioning metal shell welding device according to claim 3, characterized in that: The driving component is a spring (17) sleeved on the guide rod (16), and the spring (17) is located between the gripper (12) and the wall of the mounting groove; The clamp (9) is symmetrically provided with an extension plate (23). The power structure consists of a pressure groove (27) and a clearance groove (28). The pressure groove (27) consists of an arc groove and a straight groove. One end of the arc groove is connected to the clearance groove (28), and the other end of the arc groove bends downward and connects to the straight groove. Some of the straight grooves are opened on the extension plate (23). One end of the lever (18) is located in the clearance groove (28) and is provided with a rounded corner.

5. The self-positioning metal shell welding device according to claim 1, characterized in that: A sleeve is provided in the middle of the carrier plate (7), the rotating part is a motor (14), and it is an external rotor motor. The fixed end of the motor (14) is connected to the execution end of the robotic arm through the vertical rod (4), and the output end of the motor (14) is connected to the sleeve.

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