A welding robot matching welding tooling table

Abstract

The present application relates to the technical field of welding equipment, in particular to a welding robot supporting welding tooling table, which comprises a welding tooling table body, an adjustable connecting mechanism and a connecting power mechanism. The welding tooling table body is provided with a liftable clamping and fixing assembly for fixing a workpiece to be welded; the adjustable connecting mechanism adopts an outer rotating cylinder, a middle rotating cylinder and an inner rotating cylinder which are independently rotated and are sleeved from outside to inside, and cooperates with a rotating ring, a connecting rod and multiple groups of bevel gears to change the placing angle of the welding tooling platform; the connecting power mechanism drives the corresponding rotating cylinder through the meshing of a driving rack and a driving tooth, and selectively pushes the corresponding driving rack by using a ball screw, a ball nut and a cylinder. The present application can realize multi-azimuth angle adjustment of the welding tooling platform and quick clamping and fixing of the workpiece to be welded, and is suitable for robot welding operation.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, specifically a welding fixture for use with a welding robot. Background Technology

[0002] With the increasing popularity of industrial robot welding applications, welding fixtures, as key auxiliary equipment to ensure the accuracy and efficiency of robot welding, directly affect the weld formation quality and production cycle.

[0003] In actual welding production, some workpieces to be welded have curved surfaces, inclined surfaces, or spatial intersecting weld seams, requiring the welding torch to approach the welding area at a corresponding angle. However, existing tooling tables cannot easily adjust the placement angle of the workpieces to be welded according to the direction of the weld seam. Operators usually need to use shims, wedges, or temporary supports to change the angle of the workpieces to be welded. This not only makes the adjustment process cumbersome and time-consuming, but also results in rough angle positioning and poor repeatability, making it difficult to meet the requirements of precise trajectory programming for robots.

[0004] While some welding fixtures with angle adjustment capabilities employ worm gears or hinged screws for their adjustment mechanisms, these systems suffer from drawbacks such as narrow adjustment ranges, the need for multiple operators during adjustment, and susceptibility of the locking mechanism to vibration. These issues can cause workpiece angle deviations during welding, leading to defects like weld misalignment and incomplete fusion, and in severe cases, even robot collisions with the welding torch. Therefore, a welding fixture suitable for welding robots is needed, capable of multi-directional angle adjustment while facilitating workpiece fixation.

[0005] In view of this, this technical solution designs a welding fixture for welding robots. Summary of the Invention

[0006] The purpose of this invention is to provide a welding fixture for a welding robot to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a welding fixture for a welding robot, comprising a welding fixture body, an adjustable connecting mechanism, and a connecting power mechanism, wherein the adjusting end of the adjustable connecting mechanism is connected to the welding fixture body, and the driving end of the adjustable connecting mechanism is connected to the connecting power mechanism, characterized in that: The welding fixture platform includes a welding fixture platform, one side of which is connected to an adjustable connection mechanism via a connecting plate. The adjustable connection mechanism includes an outer rotating cylinder, a middle rotating cylinder, and an inner rotating cylinder. The outer rotating cylinder, the middle rotating cylinder, and the inner rotating cylinder are nested from the outside to the inside, and are independently rotatable and gradually misaligned axially. The ends of the inner rotating cylinder, the middle rotating cylinder, and the outer rotating cylinder facing the welding fixture are respectively fixedly installed with bevel gear three, bevel gear two, and a rotating collar. Bevel gear 1 is vertically meshed on one side of the upper part of bevel gear 3, and bevel gear 4 is vertically meshed on the other side of bevel gear 1 opposite to bevel gear 3. A connecting shaft is connected to the center of the end of bevel gear 4 away from bevel gear 3, and the end of the connecting shaft is fixedly connected to the welding fixture platform through a connecting plate. Bevel gear 5 is vertically meshed on one side of the bottom of bevel gear 2. Rotating shaft 2 is connected to the middle of the bottom of bevel gear 5. Rotating shaft 2 and connecting shaft are connected and positioned by L-shaped bracket 2 and collar. A rotating shaft is installed at the center of the top of the bevel gear. A connecting rod is fitted at the end of both the rotating shaft and the rotating shaft. The end of the connecting rod away from the rotating shaft and the rotating shaft is fixedly connected to the rotating collar. The connecting power mechanism includes a connecting power mechanism base, which is set as a U-shaped structure. The other ends of the outer rotating cylinder, the middle rotating cylinder and the inner rotating cylinder are respectively equipped with drive tooth one, drive tooth two and drive tooth three. Drive tooth one is engaged with drive rack one at the bottom, drive tooth two is engaged with drive rack two at the bottom, and drive tooth three is engaged with drive rack three at the bottom. Rack end plates are installed at both ends of drive rack one, drive rack two and drive rack three. The end walls of the rack end plates are provided with insertion push holes. A set of movable power push components are provided on the vertical side walls on both sides of the power mechanism base. The movable power push components can move between the three rack end plates and apply thrust to the corresponding rack end plates.

[0008] As a further aspect of the present invention: rolling bearings are respectively provided between the outer rotating cylinder and the middle rotating cylinder, and between the middle rotating cylinder and the inner rotating cylinder; a support collar is fitted on the end of the outer rotating cylinder facing the power mechanism, and the bottom of the support collar is connected to the power mechanism through an L-shaped bracket.

[0009] As a further aspect of the present invention: four clamping and fixing component slots are symmetrically arranged at the four corners of the top of the welding fixture platform. Each clamping and fixing component slot is equipped with a set of clamping and fixing components by means of bolts. The clamping and fixing components move perpendicular to the upper surface of the welding fixture platform.

[0010] As a further aspect of the present invention: the clamping and fixing component includes a component base that is fixed to the inner wall of the clamping and fixing component groove by bolts. Two limiting lifting columns and a rack column are movably arranged on the upper side of the component base. The limiting lifting columns and the rack column are distributed in parallel. Limiting hole blocks are installed on the side wall of the clamping and fixing component groove. The limiting lifting columns and the rack column slide along the inside of the limiting hole blocks. A rack is engaged with the lower inner side of the rack column, and rod shafts are symmetrically installed at both ends of the rack. One end of the rod shaft on one side is connected to a servo motor fixed on the component base via a coupling. A base plate is fixedly installed on the top of the limit lifting column and the rack column, and a clamping fixing plate is detachably connected to the end of the base plate.

[0011] As a further aspect of the present invention: a screw is installed at one end of the clamping and fixing plate facing the substrate, and a threaded cylinder corresponding to the screw is provided on the substrate, and the screw and the threaded cylinder are threadedly connected; the clamping and fixing plate is configured as a right-angled trapezoidal structure, and the lower side of the end of the clamping and fixing plate is configured as an inclined surface.

[0012] As a further aspect of the present invention: a slider base plate is installed at the bottom center of each of the drive rack 1, drive rack 2 and drive rack 3, and a slider is installed at the bottom of the slider base plate. A groove corresponding to the slider is provided on the base of the connecting power mechanism, and the slider slides along the inside of the groove.

[0013] As a further aspect of the present invention: the slider is configured as an inverted T-shape, and reset springs are symmetrically connected to both sides of the slider base plate. The ends of the reset springs away from the slider base plate are connected to a fixing plate fixed to the base of the connecting power mechanism.

[0014] As a further aspect of the present invention: the mobile power propulsion assembly includes a transfer mechanism groove disposed on the vertical side wall of the power mechanism base, a ball screw is rotatably disposed inside the transfer mechanism groove, one end of the ball screw is connected to a servo motor two through a coupling, and the servo motor two is fixed on the inner wall of the transfer mechanism groove. The ball screw is threaded with a ball nut, which is equipped with a guide device to limit its rotation. One side of the ball nut is connected to a cylinder via a cylinder base. The end of the cylinder is equipped with a piston rod, which is engaged with a push hole to push the screw.

[0015] As a further embodiment of the present invention: a guide slider is provided on the outside of the ball nut or the mounting base fixed to the ball nut, and a linear guide rail that cooperates with the guide slider is provided inside the transfer mechanism groove. The cylinder is a double-acting linear cylinder with a piston inside. The piston is fixedly connected to the piston rod, and the cylinder body has inlet and exhaust ports at both ends.

[0016] Compared with the prior art, the beneficial effects of the present invention are: by using an outer rotating cylinder, a middle rotating cylinder and an inner rotating cylinder that are nested from the outside in and can rotate independently of each other, in cooperation with a rotating collar, a connecting rod and multiple sets of bevel gears, the welding fixture platform can rotate, swing and adjust the circumferential angle in different directions according to the welding needs, thereby adapting to workpieces with inclined surfaces, curved surfaces or spatial welds. The linear movement of the drive rack is converted into the rotation of the corresponding drum by meshing between the drive rack and the drive teeth. The corresponding drive rack is selectively driven by a movable power drive component that can be transferred between different rack end plates, so that different angle adjustment actions can be performed as needed. By using multiple clamping and fixing components set on the welding fixture platform, and using servo motors, racks, and pinions to control the lifting and lowering of the clamping and fixing plates, the workpiece to be welded or the fixture holding the workpiece to be welded can be clamped and fixed. With the automatic reset action of the return spring, the entire welding fixture table has both workpiece fixing and multi-directional angle adjustment functions, reducing the need for manual angle adjustment using shims, wedges, or temporary supports, and improving the convenience and stability of welding fixture table adjustment and robotic welding operations. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of a welding fixture for a welding robot.

[0018] Figure 2 This is a schematic diagram of the main structure of a welding fixture table used with a welding robot.

[0019] Figure 3 This is a top view schematic diagram of a welding fixture used with a welding robot.

[0020] Figure 4 This is a side view of a welding fixture used with a welding robot.

[0021] Figure 5 This is a partial structural diagram of a welding fixture used with a welding robot.

[0022] Figure 6 This is a schematic diagram of the structure of a welding fixture body in a welding fixture table used with a welding robot.

[0023] Figure 7 for Figure 6 A magnified structural diagram of A in the diagram.

[0024] Figure 8 This is a partial structural diagram of the power mechanism connected in a welding fixture used with a welding robot.

[0025] Figure 9 for Figure 8 A magnified structural diagram of B in the diagram.

[0026] Figure 10 for Figure 8 A magnified structural diagram of C.

[0027] The components include: welding fixture body 1, welding fixture platform 100, clamping and fixing component slot 101, connecting plate 102, clamping and fixing plate 103, threaded cylinder 104, screw 105, base plate 106, limiting lifting column 107, rack column 108, limiting hole block 109, rack 110, rod shaft 111, servo motor 112, and component base 113. Adjustable connecting mechanism 2, outer rotating cylinder 200, middle rotating cylinder 201, inner rotating cylinder 202, support collar 203, L-shaped bracket 1 204, rotating collar 205, connecting rod 206, rotating shaft 1 207, bevel gear 1 208, bevel gear 2 209, bevel gear 3 210, bevel gear 4 211, bevel gear 5 212, rotating shaft 2 213, L-shaped bracket 2 214, collar 215, connecting shaft 216; Connecting power mechanism 3, drive gear 1 300, drive gear 2 301, drive gear 302, drive rack 1 303, drive rack 2 304, drive rack 3 305, rack end plate 306, insertion push hole 307, slider base plate 308, slider 309, slide groove 310, return spring 311, fixing plate 312, connecting power mechanism base 313, piston rod 314, cylinder 315, cylinder base 316, ball nut 317, ball screw 318, servo motor 2 319, transfer mechanism slot 320. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Please see Figures 1-4 A welding fixture for a welding robot includes a welding fixture body 1, an adjustable connecting mechanism 2, and a connecting power mechanism 3. The adjusting end of the adjustable connecting mechanism 2 is connected to the welding fixture body 1, and the driving end is connected to the connecting power mechanism 3. That is, by controlling the connecting power mechanism 3, the adjustable connecting mechanism 2 is driven to perform multi-directional transfer, thereby adjusting the placement angle of the welding fixture body 1 and realizing the free adjustment of the welding device on the welding fixture body 1. Specifically, such as Figures 6-7 As shown, the welding fixture platform 1 includes a rectangular welding fixture platform 100. One side of the welding fixture platform 100 is connected to the adjustable connecting mechanism 2 via a connecting plate 102. Four clamping and fixing component slots 101 are symmetrically provided at the four corners of the top of the welding fixture platform 100. A set of clamping and fixing components is installed inside the clamping and fixing component slots 101 by bolts. The clamping and fixing components move perpendicular to the upper surface of the welding fixture platform 100 to clamp and fix a welding device placed on the welding fixture platform 100. Then, with the cooperation of multiple clamping and fixing components, the welding device is fully fixed, thus realizing the rapid installation, fixing and disassembly of the welding device. The clamping and fixing assembly includes a component base 113 bolted to the inner wall of the clamping and fixing assembly groove 101. Two limiting lifting columns 107 and a rack column 108 are movably mounted on the upper side of the component base 113. The limiting lifting columns 107 and rack column 108 are parallel to each other, and limiting holes 109 are installed on the side walls of the clamping and fixing assembly groove 101 corresponding to the limiting lifting columns 107 and rack column 108. Both the limiting lifting columns 107 and rack column 108 slide along the inside of the limiting holes 109. Simultaneously, a rack 110 meshes with the lower inner side of the rack column 108. Rod shafts 111 are symmetrically mounted at both ends of the rack 110, and the rod shafts 111 are supported by a support collar. A servo motor 112 fixed on the component base 113 is connected to the end of the rod shaft 111 on one side of the component base 113 via a coupling. That is, by starting the servo motor 112, the rack 110 is driven to rotate. Then, the rack 110 is controlled to move by meshing with the rack column 108. At the same time, a base plate 106 is fixedly installed on the top of the limit lifting column 107 and the rack column 108. The end of the base plate 106 is detachably connected to the clamping fixing plate 103. By moving the rack column 108, the height of the clamping fixing plate 103 is adjusted, thereby controlling the clamping and fixing between the clamping fixing plate 103 and the welding device. Preferably, a screw 105 is installed on one end of the clamping and fixing plate 103 facing the substrate 106, and a threaded cylinder 104 is provided on the substrate 106 corresponding to the screw 105. The screw 105 and the threaded cylinder 104 are threadedly connected, thereby realizing the detachable connection between the clamping and fixing plate 103 and the substrate 106. At the same time, by setting the length of the screw 105, it is ensured that after the screw 105 and the threaded cylinder 104 are fully threadedly connected, the clamping and fixing plate 103 is at an angle parallel to the upper surface of the welding fixture platform 100, that is, maintaining full contact and fixation between the clamping and fixing plate 103 and the welding device. Furthermore, the clamping and fixing plate 103 is configured as a right-angled trapezoidal structure, with its lower end being a bevel, so that it can make full contact and fix with the clamping points of various welding devices of different shapes; It should be noted that the object clamped and fixed by the welding fixture platform 100 in this embodiment is preferably referred to as the "workpiece to be welded" or the "fixture for carrying the workpiece to be welded".

[0033] The workpieces to be welded can be, for example, steel plate welded parts, box structure parts or square tube assemblies, flange pipe fittings, engineering machinery structural parts, automotive parts, and metal components with inclined, curved or spatial welds. Furthermore, in order to maintain a stable positional relationship between the rack 110 and the pinion 108 after the servo motor 112 stops working, the servo motor 112 is preferably a brake-type servo motor with a power failure brake.

[0034] After the servo motor 112 stops outputting, its electromagnetic brake brakes the motor shaft, restricting the rack 110 from rotating in the opposite direction, thereby reducing the possibility of the clamping plate 103 retracting upward under the reaction force of the workpiece or the vibration of the robot welding.

[0035] Furthermore, a planetary reducer can be connected in series between the servo motor 112 and the rod shaft 111. The reduction ratio of the reducer is preferably 3:1 to 10:1 to improve the clamping output torque.

[0036] Furthermore, the clamping and fixing plate 103 is configured as a right-angled trapezoid or an approximately right-angled trapezoidal structure, with an inclined contact surface on the side facing the workpiece to be welded. The angle between the inclined contact surface and the horizontal plane can preferably be set to 30° to 60°.

[0037] For example, when the workpiece to be welded is a round tube, rectangular tube, channel steel, plate structure with reinforcing ribs, or irregular structural part with an inclined outer surface, the inclined contact surface can first contact the local inclined surface, arc surface or edge position of the workpiece, thereby reducing the local slippage phenomenon caused by the ordinary horizontal pressure plate only contacting the irregular workpiece through the corners.

[0038] For flat workpieces, the horizontal area at the bottom of the clamping plate 103 can directly press against the upper surface of the workpiece.

[0039] A removable heat-resistant and anti-slip pad can also be provided at the position where the clamping plate 103 contacts the workpiece. The pad can be made of copper alloy, stainless steel, or steel with heat-resistant and anti-slip texture on the surface to reduce the degree to which welding spatter directly adheres to the clamping plate 103.

[0040] It should be noted that the trapezoidal structure and the above-mentioned dimensions of the clamping and fixing plate 103 are preferred embodiments, and can be replaced with a flat plate, V-shaped, arc-shaped or stepped clamping and fixing plate according to the actual contour of the workpiece to be welded.

[0041] As a preferred embodiment of the present invention, such as Figures 1-5 As shown, the adjustable connecting mechanism 2 includes an outer rotating cylinder 200, a middle rotating cylinder 201, and an inner rotating cylinder 202; the outer rotating cylinder 200, the middle rotating cylinder 201, and the inner rotating cylinder 202 are nested from the outside in, and are independently rotatable and gradually misaligned axially. A bevel gear 210, a bevel gear 209, and a rotating collar 205 are respectively fixedly installed at the ends of the inner rotating cylinder 202, the middle rotating cylinder 201, and the outer rotating cylinder 200 facing the welding fixture platform 1; a bevel gear 208 is vertically meshed on one side of the upper part of the bevel gear 210. A bevel gear 211 is perpendicularly meshed on the other side of bevel gear 3 210. A connecting shaft 216 is connected to the center of the end of bevel gear 4 211 away from bevel gear 3 210. The end of the connecting shaft 216 is fixedly connected to the welding fixture platform 100 through the connecting plate 102. At the same time, a bevel gear 212 is perpendicularly meshed on one side of the bottom of bevel gear 209. A rotating shaft 213 is connected to the middle of the bottom of bevel gear 5 212. The rotating shaft 213 and the connecting shaft 216 are connected and positioned by an L-shaped bracket 214 and a collar 215. To ensure that the three rotating drums can rotate independently and withstand the radial and axial loads generated by the welding fixture 1, it is preferable to install rolling bearings between the outer rotating drum 200 and the middle rotating drum 201, and between the middle rotating drum 201 and the inner rotating drum 202.

[0042] The rolling bearing can be a deep groove ball bearing, an angular contact ball bearing, a tapered roller bearing, or a thin-walled crossed roller bearing.

[0043] For tooling tables with large load-bearing capacity, it is preferable to use paired angular contact ball bearings or tapered roller bearings to improve the load-bearing capacity for axial force and overturning moment.

[0044] The outer rotating cylinder 200, the middle rotating cylinder 201 and the inner rotating cylinder 202 are preferably made of 40Cr seamless steel pipe or 45# steel thick-walled pipe, and are formed into corresponding bearing mounting surfaces through rough machining, heat treatment and fine machining.

[0045] The coaxiality of the mounting surface of the rotary bearing is preferably controlled within the range of 0.02 to 0.08 mm.

[0046] Furthermore, a rotating shaft 207 is installed at the center of the top of the bevel gear 208. A connecting rod 206 is fitted at the end of both the rotating shaft 207 and the rotating shaft 213. The end of the connecting rod 206 away from the rotating shaft 207 and the rotating shaft 213 is fixedly connected to the rotating collar 205. The other ends of the outer rotating cylinder 200, the middle rotating cylinder 201, and the inner rotating cylinder 202 are connected to the connecting power mechanism 3. That is, under the drive of the connecting power mechanism 3, the outer rotating cylinder 200, the middle rotating cylinder 201, and the inner rotating cylinder 202 are controlled to rotate. Specifically, when the inner rotating cylinder 202 rotates, it drives the bevel gear 3 210 to rotate. The rotation of the bevel gear 3 210, under the rotation of the bevel gear 1 208 and the bevel gear 4 211, drives the connecting shaft 216 to rotate, thereby driving the welding fixture platform 100 to rotate. When the rotating drum 201 rotates, it drives the second bevel gear 209 to rotate. Then, the meshing between the second bevel gear 209 and the fifth bevel gear 212 drives the fifth bevel gear 212 to rotate. Then, with the help of the set between the rotating shaft 213 and the L-shaped bracket 214, the connecting shaft 216 and the welding fixture platform 100 are driven to swing in the left and right directions. When the outer rotating cylinder 200 rotates, the rotating collar 205 is controlled to rotate. Then, under the connection of the connecting rods 206 on both sides, the bevel gear 1 208, bevel gear 4 211 and connecting shaft 216 are driven to rotate around the axis of connecting shaft 216, thereby adjusting the surrounding angle of the welding fixture platform 100. Furthermore, a support ring 203 is fitted on the end of the outer rotating cylinder 200 facing the power mechanism 3, and the bottom of the support ring 203 is connected to the power mechanism 3 through an L-shaped bracket 204. Finally, when multiple angles need to be rotated simultaneously, the outer rotating cylinder 200, the middle rotating cylinder 201, or the inner rotating cylinder 202 can be controlled to rotate simultaneously as required, thereby achieving multi-angle adjustment.

[0047] In a preferred embodiment, the meshing bevel gears are set to a 1:1 ratio to create a simpler correspondence between the input angle and the corresponding output angle; alternatively, a non-1:1 ratio can be used depending on the required torque and angle adjustment range.

[0048] As a preferred embodiment of the present invention, such as Figures 1-5 , Figures 8-10As shown, the connecting power mechanism 3 includes a connecting power mechanism base 313, which is configured as a U-shaped structure. A drive tooth 300 is installed at the other end of the outer rotating cylinder 200, a drive tooth 301 is installed at the other end of the middle rotating cylinder 201, and a drive tooth 302 is installed at the other end of the inner rotating cylinder 202. A drive rack 303 is engaged at the bottom of the drive tooth 300, a drive rack 304 is engaged at the bottom of the drive tooth 301, and a drive rack 305 is engaged at the bottom of the drive tooth 302. That is, by moving the drive rack 303, the drive rack 304, and the drive rack 305, the drive teeth 300, the drive teeth 301, and the drive teeth 302 are simultaneously driven to rotate, thereby realizing the rotational drive of the outer rotating cylinder 200, the middle rotating cylinder 201, and the inner rotating cylinder 202. Furthermore, a slider base plate 308 is installed at the bottom center of each of the drive rack 1 303, drive rack 2 304, and drive rack 3 305. A slider 309 is installed at the bottom of the slider base plate 308. A groove 310 is provided on the corresponding connecting power mechanism base 313 at the bottom of the slider 309. The slider 309 slides along the inside of the groove 310. Preferably, the slider 309 is configured as an inverted "T" shape, and the inside of the groove 310 cooperates with it to maintain stable sliding between the slider 309 and the groove 310.

[0049] Meanwhile, reset springs 311 are symmetrically connected on both sides of the slider base plate 308. The end of the reset spring 311 away from the slider base plate 308 is connected to a fixing plate 312 fixed on the power mechanism base 313. That is, by utilizing the elasticity of the reset spring 311, when it is kept in a free state, the slider base plate 308 is controlled to be placed in the middle of the slide groove 310, which achieves the function of automatic reset. The return springs 311 on both sides are preferably compression springs or tension springs with basically the same parameters, so that the drive rack is subjected to elastic forces in opposite directions and in a basically balanced manner when it is not subjected to external pushing force.

[0050] When the drive rack deviates from the middle reference position, the spring force on one side increases, thus creating a reset effect.

[0051] The return spring 311 is mainly used for automatic return to center under no-load conditions and to eliminate some gaps, and is not used as the main position holding structure under welding conditions.

[0052] Furthermore, rack end plates 306 are installed on both ends of drive rack 1 303, drive rack 2 304, and drive rack 3 305. The end wall of the rack end plate 306 is provided with insertion push holes 307. A set of movable power push components are provided on the vertical side walls on both sides of the power mechanism base 313. The movable power push components move between the three rack end plates 306 and extend and retract as required to apply thrust to the corresponding rack end plates 306, thereby driving the corresponding drive rack 1 300, drive rack 2 301, or drive rack 302 to rotate. Specifically, the mobile power propulsion assembly includes a transfer mechanism groove 320 located on the vertical side wall of the power mechanism base 313. A ball screw 318 is rotatably mounted inside the transfer mechanism groove 320. Screw shafts are symmetrically mounted at both ends of the ball screw 318. The screw shafts are fixed to the side wall of the transfer mechanism groove 320 by a support collar. One end of the screw shaft is connected to a servo motor 319 via a coupling. The servo motor 319 is fixed to the inner wall of the transfer mechanism groove 320. A ball nut 317 is threaded onto the ball screw 318. The ball nut 317 is provided with a guide device for limiting its rotation. A cylinder 315 is connected to one side of the ball nut 317 via a cylinder base 316. A piston rod 314 is provided at the end of the cylinder 315. The end of the piston rod 314 is inserted into and contacts the insertion push hole 307 to push. It should be noted that a guide slider is provided on the outside of the ball nut 317 or the mounting base fixed to the ball nut 317, and a linear guide rail that cooperates with the guide slider is provided inside the transfer mechanism groove 320. Alternatively, a limiting key can be provided on the outside of the ball nut 317, and a guide groove extending along the axial direction of the ball screw 318 can be provided on the side wall of the transfer mechanism groove 320, so that the limiting key can move inside the guide groove, thereby limiting the rotation of the ball nut 317. Alternatively, a combination of ball nut mounting base and linear guide pair can be used for anti-rotation guidance.

[0053] The preferred choice is a linear guide pair structure, which has lower motion resistance and higher positioning accuracy.

[0054] The ball screw 318 is preferably made of GCr15 bearing steel or alloy steel and undergoes high-frequency quenching and grinding. As a non-limiting embodiment, the nominal diameter of the ball screw 318 can be set to 16-32 mm, the lead to 5-10 mm, and the accuracy class to C5-C7.

[0055] The power of the servo motor 319 can be selected from 0.2 to 0.75 kW depending on the weight of the cylinder 315 and the cylinder base 316.

[0056] The servo motor 2319 is preferably equipped with an absolute encoder or an incremental encoder.

[0057] The control system determines the positions of the ball nut 317 and the cylinder 315 along the transfer mechanism groove 320 through encoder feedback from the servo motor 2 319. The positions of the drive rack 1 303, drive rack 2 304 and drive rack 3 305 are pre-recorded in the control system.

[0058] When it is necessary to control a certain rotating drum, the control system drives the servo motor 319 to make the cylinder 315 automatically move to the position of the insertion push hole 307 of the corresponding drive rack end plate 306.

[0059] The cylinder 315 is preferably a double-acting linear cylinder; the double-acting cylinder has a piston inside, and the piston is fixedly connected to the piston rod 314.

[0060] The cylinder 315 has intake and exhaust ports at both ends of the cylinder block.

[0061] When compressed air enters one side of the piston chamber and the other side chamber is vented, the piston and piston rod 314 move in one direction; after the direction of air supply from the solenoid reversing valve is changed, the piston and piston rod 314 move in the opposite direction.

[0062] The piston rod 314 and the internal piston of the cylinder 315 are usually connected by thread with anti-loosening, riveting or integral fixed connection.

[0063] The cylinder 315 is preferably a double-acting cylinder with a buffer structure, so that when the piston rod 314 reaches the end of its stroke, the impact is reduced by air buffer or hydraulic buffer.

[0064] The control system of this welding fixture may include at least one of a PLC controller, a robot controller, or an industrial computer.

[0065] The control system also includes a first servo driver that is matched with servo motor 112, a second servo driver that is matched with servo motor 319, an electromagnetic reversing valve, an air source treatment component, a pressure detection element, a position detection element, a limit switch, and an emergency stop safety circuit. The air source treatment assembly preferably includes an air filter, a pressure reducing valve and an oil mist lubricator or a filter and pressure reducing assembly, for treating external compressed air and supplying it to cylinder 315; The cylinder 315 is controlled to extend and retract via a three-position five-way solenoid directional valve or a two-position five-way solenoid directional valve. When it is necessary to maintain the position in the middle position, a three-position five-way valve with a middle-position closed design is preferred, and it is used in conjunction with a two-way pneumatic check valve or a mechanical locking structure.

[0066] It should be noted that compressed air is compressible; therefore, for maintaining the robot's posture during precision welding, it is not advisable to rely solely on gas pressure holding as the final locking method. A mechanical locking structure or a rotary drum brake is preferable. Each servo motor is preferably equipped with an origin detection sensor and extreme position sensors.

[0067] The control system uses the following interlocking logic to control the device: when the clamping and fixing component has not completed the workpiece clamping, the adjustable connecting mechanism 2 is prohibited from high-speed operation; When the servo motor 319 drives the cylinder 315 to move laterally, the piston rod 314 must be in the retracted state; the piston rod 314 is only allowed to extend after the cylinder 315 moves to the position corresponding to the target drive rack and receives the position signal. Only after the piston rod 314 extends into the insertion hole 307 and is confirmed to be in place can the drive rack displacement adjustment be allowed; after the corresponding posture reaches the target angle, the locking component is first controlled to lock, and then the cylinder 315 is unloaded or retracted; only after the locking state is confirmed can the robot controller allow the execution of the corresponding welding program.

[0068] The robot controller and the welding fixture control system can exchange signals via digital I / O, Profinet, EtherCAT, EtherNet / IP or other industrial communication buses.

[0069] The control system can be set with status signals such as "attitude in position", "workpiece clamping in position", "locking in position", "welding allowed", "fault", and "emergency stop".

[0070] The working principle of the present invention is as follows: Step S1: First, place the workpiece to be welded or the tooling fixture that carries the workpiece to be welded on the welding tooling platform 100, and fix it according to the position of the workpiece to be welded using the clamping and fixing components set at the four corners of the top of the welding tooling platform 100.

[0071] Servo motor 112 is started. Servo motor 112 drives the rod shaft 111 on one side to rotate through the coupling. The rod shaft 111 drives the rack 110 to rotate. The rack 110 meshes with the rack column 108, causing the rack column 108 to move along the limiting hole block 109. At the same time, the limiting lifting column 107 moves along the inside of the limiting hole block 109, causing the base plate 106 fixed on the top of the limiting lifting column 107 and the rack column 108 to move accordingly. The base plate 106 drives the clamping fixing plate 103 to move toward the workpiece to be welded.

[0072] After multiple clamping and fixing plates 103 come into contact with the workpiece to be welded or the tooling fixture that carries the workpiece to be welded, the workpiece to be welded is clamped and fixed on the welding tooling platform 100.

[0073] Step S2: After clamping the workpiece to be welded, determine the drive rack 1 303, drive rack 2 304 or drive rack 3 305 to be driven according to the placement angle that the welding fixture platform 100 needs to be adjusted.

[0074] Start the servo motor 319. The servo motor 319 drives the ball screw 318 to rotate through the coupling. Since the ball nut 317 is restricted by the guide device and cannot rotate with the ball screw 318, the rotation of the ball screw 318 causes the ball nut 317 to move along the ball screw 318.

[0075] During the movement of the ball nut 317, the cylinder 315 is driven by the cylinder base 316 to move along the transfer mechanism groove 320, so that the cylinder 315 moves to the position corresponding to the selected rack end plate 306.

[0076] Step S3: After the cylinder 315 moves to the corresponding rack end plate 306 position, control the cylinder 315 to work, so that the piston rod 314 extends and the end of the piston rod 314 is inserted into the insertion push hole 307 of the corresponding rack end plate 306, and applies a thrust to the rack end plate 306.

[0077] When the rack end plate 306 is subjected to force, it drives the corresponding drive rack 1 303, drive rack 2 304 or drive rack 305 to move along the base 313 of the connected power mechanism.

[0078] During the movement of the drive rack, the slider base plate 308 connected to it moves synchronously, and the slider 309 at the bottom of the slider base plate 308 slides along the slide groove 310 to maintain the movement direction of the corresponding drive rack.

[0079] Step S4: When it is necessary to adjust the circumferential angle of the welding fixture platform 100 by means of the outer rotating cylinder 200, the movable power push assembly is moved to the position of the rack end plate 306 corresponding to the drive rack 303.

[0080] Cylinder 315 controls piston rod 314 to push rack end plate 306, which in turn drives rack 303 to move. Rack 303 meshes with drive gear 300, thereby causing drive gear 300 to rotate. Drive gear 300 drives outer rotating cylinder 200 to rotate, which in turn drives rotating collar 205 to rotate. Rotating collar 205 drives corresponding structures to rotate via connecting rod 206, thereby adjusting the surrounding angle of welding fixture platform 100.

[0081] Step S5: When it is necessary to adjust the swing angle of the welding fixture platform 100 through the transfer cylinder 201, the movable power push assembly is moved to the position of the rack end plate 306 corresponding to the drive rack 2 304.

[0082] Cylinder 315 controls piston rod 314 to push rack end plate 306, which in turn drives rack 304 to move.

[0083] Drive rack 2 304 meshes with drive gear 2 301, causing drive gear 2 301 to drive the central rotating cylinder 201 to rotate. The central rotating cylinder 201 drives bevel gear 209 to rotate. Bevel gear 209 meshes perpendicularly with bevel gear 5 212, thereby driving bevel gear 5 212 and rotating shaft 213 to rotate. Through the connection relationship between L-shaped bracket 214, collar 215 and connecting shaft 216, the connecting shaft 216 and the welding fixture platform 100 connected to the connecting shaft 216 can swing to achieve angle adjustment in the corresponding direction.

[0084] Step S6: When it is necessary to adjust the rotation angle of the welding fixture platform 100 through the inner rotating cylinder 202, the movable power push assembly is moved to the position of the rack end plate 306 corresponding to the drive rack 305.

[0085] Cylinder 315 controls piston rod 314 to push rack end plate 306, which in turn drives rack 305 to move.

[0086] Drive rack 305 meshes with drive gear 302, causing drive gear 302 to drive inner rotating cylinder 202 to rotate; inner rotating cylinder 202 drives bevel gear 310 to rotate, bevel gear 3210 drives bevel gear 1208 meshing perpendicularly with it to rotate, bevel gear 1208 further drives bevel gear 4211 meshing perpendicularly with it to rotate, bevel gear 4211 drives connecting shaft 216 to rotate, and connecting shaft 216 drives welding fixture platform 100 to rotate through connecting plate 102.

[0087] Step S7: When the welding fixture platform 100 needs to be adjusted in multiple directions, select the corresponding drive racks from drive rack 1 303, drive rack 2 304 and drive rack 3 305 according to the required angle to drive the corresponding drums in the outer rotating drum 200, middle rotating drum 201 and inner rotating drum 202.

[0088] By combining the corresponding actions of the outer rotating cylinder 200, the middle rotating cylinder 201, and the inner rotating cylinder 202, the welding fixture platform 100 is positioned at the angle required for robot welding.

[0089] Step S8: After the welding fixture platform 100 reaches the set placement angle and confirms that the workpiece to be welded is in a clamped and fixed state, the welding robot welds the workpiece to be welded according to the corresponding welding procedure.

[0090] The control system controls the execution of the robot's welding program based on status signals such as "posture in position," "workpiece clamping in position," "locking in position," and "welding permitted." When the cylinder 315 moves laterally, the piston rod 314 is in a retracted state. After the cylinder 315 moves to the position corresponding to the target drive rack, the piston rod 314 extends and engages with the insertion push hole 307. Step S9: After welding is completed, release the corresponding position holding state as needed to retract the piston rod 314; after the drive rack loses its external pushing force, the reset springs 311 set on both sides of the slider base plate 308 will reset the slider base plate 308, so that the corresponding structure returns to its free state position.

[0091] Then, the servo motor 112 is controlled to work in reverse, and the base plate 106 and the clamping plate 103 are moved in the direction of release from clamping through the rod shaft 111, the rack 110 and the rack column 108, so that the clamping plate 103 is separated from the workpiece to be welded, and the disassembly of the workpiece to be welded is completed.

[0092] The preferred embodiments of this patent have been described in detail above. However, this patent is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this patent.

Claims

1. A welding fixture for a welding robot, comprising a welding fixture body (1), an adjustable connecting mechanism (2), and a connecting power mechanism (3), wherein the adjusting end of the adjustable connecting mechanism (2) is connected to the welding fixture body (1), and the driving end of the adjustable connecting mechanism (2) is connected to the connecting power mechanism (3), characterized in that: The welding fixture platform (1) includes a welding fixture platform (100), one side of which is connected to the adjustable connection mechanism (2) via a connecting plate (102). The adjustable connecting mechanism (2) includes an outer rotating cylinder (200), a middle rotating cylinder (201) and an inner rotating cylinder (202). The outer rotating cylinder (200), the middle rotating cylinder (201) and the inner rotating cylinder (202) are sleeved from the outside to the inside, and are independently rotated and gradually misaligned axially. The inner rotating cylinder (202), the middle rotating cylinder (201) and the outer rotating cylinder (200) are respectively fixedly installed with bevel gear three (210), bevel gear two (209) and rotating collar (205) at the ends of the inner rotating cylinder (202), the middle rotating cylinder (201) and the outer rotating cylinder (200) facing the welding fixture table (1). The upper side of the bevel gear three (210) is vertically meshed with bevel gear one (208), and the bevel gear one (208) is vertically meshed with bevel gear four (211) on the other side opposite to the bevel gear three (210). The center of the end of the bevel gear four (211) away from the bevel gear three (210) is connected to a connecting shaft (216), and the end of the connecting shaft (216) is fixedly connected to the welding fixture platform (100) through the connecting plate (102). The bottom side of the bevel gear 2 (209) is vertically meshed with bevel gear 5 (212), and the bottom center of the bevel gear 5 (212) is connected to the rotating shaft 2 (213). The rotating shaft 2 (213) and the connecting shaft (216) are connected and positioned by an L-shaped bracket 2 (214) and a collar (215). A rotating shaft (207) is installed at the top center of the first bevel gear (208). A connecting rod (206) is fitted at the end of both the first rotating shaft (207) and the second rotating shaft (213). The end of the connecting rod (206) away from the first rotating shaft (207) and the second rotating shaft (213) is fixedly connected to the rotating collar (205). The connecting power mechanism (3) includes a connecting power mechanism base (313), which is configured as a U-shaped structure. The other ends of the outer rotating cylinder (200), the middle rotating cylinder (201) and the inner rotating cylinder (202) are respectively equipped with a first driving tooth (300), a second driving tooth (301) and a third driving tooth (302). The bottom of the first driving tooth (300) is engaged with a first driving rack (303), the bottom of the second driving tooth (301) is engaged with a second driving rack (304), and the bottom of the third driving tooth (302) is engaged with a third driving rack (305). Both ends of the first drive rack (303), the second drive rack (304), and the third drive rack (305) are equipped with rack end plates (306). The end walls of the rack end plates (306) are provided with insertion push holes (307). A set of movable power push components are provided on the vertical side walls on both sides of the connecting power mechanism base (313). The movable power push components can move between the three rack end plates (306) and apply thrust to the corresponding rack end plates (306).

2. The welding fixture for a welding robot according to claim 1, characterized in that, Rolling bearings are respectively provided between the outer rotating cylinder (200) and the middle rotating cylinder (201), and between the middle rotating cylinder (201) and the inner rotating cylinder (202); a support collar (203) is fitted on one end of the outer rotating cylinder (200) facing the connecting power mechanism (3), and the bottom of the support collar (203) is connected to the connecting power mechanism (3) through an L-shaped bracket (204).

3. The welding fixture for a welding robot according to claim 2, characterized in that, The welding fixture platform (100) has four clamping and fixing component slots (101) symmetrically arranged at the four corners of its top. Each clamping and fixing component slot (101) is equipped with a set of clamping and fixing components installed by bolts. The clamping and fixing components move perpendicular to the upper surface of the welding fixture platform (100).

4. The welding fixture for a welding robot according to claim 3, characterized in that, The clamping and fixing assembly includes a component base (113) fixed in the inner wall of the clamping and fixing assembly groove (101) by bolts. Two limiting lifting columns (107) and a rack column (108) are movably arranged on the upper side of the component base (113). The limiting lifting columns (107) and the rack column (108) are distributed in parallel. Limiting hole blocks (109) are installed on the side wall of the clamping and fixing assembly groove (101). The limiting lifting columns (107) and the rack column (108) slide along the inside of the limiting hole block (109). The rack column (108) is meshed with a toothed bar (110) on its lower inner side. The two ends of the toothed bar (110) are symmetrically mounted with rod shafts (111). One end of the rod shaft (111) on one side is connected to a servo motor (112) fixed on the component base (113) via a coupling. The limiting lifting column (107) and the top of the rack column (108) are fixedly installed with a base plate (106), and the end of the base plate (106) is detachably connected with a clamping fixing plate (103).

5. A welding fixture for a welding robot according to claim 4, characterized in that, A screw (105) is installed on one end of the clamping and fixing plate (103) facing the base plate (106). A threaded cylinder (104) corresponding to the screw (105) is provided on the base plate (106). The screw (105) is threadedly connected to the threaded cylinder (104). The clamping and fixing plate (103) is configured as a right-angled trapezoidal structure, and the lower side of the end of the clamping and fixing plate (103) is configured as an inclined surface.

6. A welding fixture for a welding robot according to claim 5, characterized in that, A slider base plate (308) is installed at the bottom center of each of the drive racks 1 (303), 2 (304), and 3 (305). A slider (309) is installed at the bottom of the slider base plate (308). A groove (310) corresponding to the slider (309) is provided on the connecting power mechanism base (313). The slider (309) slides along the inside of the groove (310).

7. A welding fixture for a welding robot according to claim 6, characterized in that, The slider (309) is configured as an inverted T-shape, and the two sides of the slider base plate (308) are symmetrically connected with return springs (311). The end of the return spring (311) away from the slider base plate (308) is connected to a fixing plate (312) fixed on the connecting power mechanism base (313).

8. A welding fixture for a welding robot according to claim 7, characterized in that, The mobile power propulsion assembly includes a transfer mechanism groove (320) disposed on the vertical side wall of the connecting power mechanism base (313). A ball screw (318) is rotatably disposed inside the transfer mechanism groove (320). One end of the ball screw (318) is connected to a servo motor (319) via a coupling. The servo motor (319) is fixed on the inner wall of the transfer mechanism groove (320). The ball screw (318) is threaded with a ball nut (317), and the ball nut (317) is provided with a guide device for limiting its rotation. One side of the ball nut (317) is connected to a cylinder (315) through a cylinder base (316). The end of the cylinder (315) is provided with a piston rod (314), and the end of the piston rod (314) is inserted into the insertion push hole (307) for push.

9. A welding fixture for a welding robot according to claim 8, characterized in that, The ball nut (317) or the mounting base fixed to the ball nut (317) is provided with a guide slider on the outside, and the transfer mechanism groove (320) is provided with a linear guide rail that cooperates with the guide slider. The cylinder (315) is a double-acting linear cylinder. A piston is installed inside the cylinder (315). The piston is fixedly connected to the piston rod (314). Inlet and outlet ports are respectively provided at both ends of the cylinder body of the cylinder (315).

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