Gripper for welding robot

Abstract

The utility model discloses a gripper for a welding robot, which comprises a base, a connecting mechanism for mounting an arm of the welding robot is mounted on the upper surface of the base, a moving mechanism capable of horizontally moving in two directions is mounted on the lower surface of the base, and supporting blocks are mounted at two ends of the moving mechanism. The upper end of the supporting block is connected with the lower surface of the base in a sliding mode, an upper clamping assembly capable of moving up and down is installed at the upper end of one side of the supporting block, and a lower clamping assembly capable of turning over by 90 degrees is installed at the lower end of one side of the supporting block. The workpiece is clamped through the relative clamping force between the clamping piece with the springback function and the buffer plate, due to the fact that the clamping piece and the buffer plate have certain elasticity, the clamping piece and the buffer plate have certain buffer space during clamping, the clamping stress is weakened, the phenomenon that the workpiece is damaged due to clamping is reduced, and the welding quality of the workpiece is improved to a certain degree.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robots, in particular to a gripper for a welding robot. Background Art

[0002] The gripper commonly used in welding robots is a welding fixture, also known as a welding fixture hand or welding fixture claw. A welding fixture is a special mechanical device installed on the end effector of a welding robot to clamp and fix the welding workpiece. Welding fixtures are usually made of metal and have a shape and structure suitable for the welding workpiece. They usually have adjustable clamping force and clamping angle to accommodate welding workpieces of different shapes and sizes.

[0003] After searching, the Chinese patent document application number is 201911060413.8, which discloses a gripper for a welding robot, including a base with a roughly plate-like structure, claws arranged on both sides of the base along the length direction of the base, and a clamping part fixedly connected to the claws and capable of clamping a workpiece; the clamping part is arranged on the side of the claw facing the other claw, and a connecting flange is also fixed on the base. The advantage of the gripper for a welding robot provided by this invention is that the workpiece is clamped by the clamping part, and the gripper can be fixedly connected to the welding robot or other device that drives the gripper through the flange, thereby changing the posture of the base to adjust the posture of the workpiece relative to the welding robot, which is convenient for welding operations.

[0004] However, the above-mentioned welding robot gripper still has the following defects:

[0005] When the above-mentioned welding robot gripper clamps the workpiece, the cylinder drives the jaws to move, and the clamping force between the jaws is used to clamp and fix the workpiece. However, direct contact between the jaws and the workpiece will generate stress, which will cause a certain risk of clamping on the workpiece surface and reduce the welding quality of the workpiece. Therefore, we need to propose a welding robot gripper to solve the above-mentioned problems. Utility Model Content

[0006] The purpose of the utility model is to provide a gripper for a welding robot, which clamps a workpiece by using the relative clamping force between a clamping piece with a rebound function and a buffer plate through the cooperation of an upper clamping component and a lower clamping component. Since the clamping piece and the buffer plate both have a certain elasticity, a certain buffer space is provided between the clamping piece and the buffer plate during clamping, thereby weakening the clamping stress and reducing the risk of the workpiece being clamped, so as to solve the problems raised in the background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a gripper for a welding robot, comprising a base, a connection mechanism for mounting with a welding robot arm is installed on the upper surface of the base, a moving mechanism capable of horizontal bidirectional movement is installed on the lower surface of the base, support blocks are installed at both ends of the moving mechanism, the upper end of the support block is slidably connected to the lower surface of the base, an upper clamping assembly capable of moving up and down is installed on the upper end of one side of the support block, and a lower clamping assembly capable of 90° flipping is installed on the lower end of one side of the support block;

[0008] The upper clamping assembly includes a first clamping plate and a lifting mechanism, the lifting mechanism is installed on one side of the support block, the first clamping plate is installed on the lifting mechanism, and a clamp with a rebound function is installed on the lower surface of the first clamping plate, one end of the first clamping plate is slidably connected to one side of the support block, and the lower clamping assembly includes a second clamping plate and an automatic flipping mechanism, the automatic flipping mechanism is embedded in the lower end of one side of the support block, the second clamping plate is installed on the automatic flipping mechanism, and an elastic buffer plate is installed on the side of the second clamping plate close to the first clamping plate.

[0009] Preferably, the lifting mechanism includes an electric push rod and a connecting plate, the connecting plate is fixed to one side of the support block, the mounting seat end of the electric push rod is fixed to the lower surface of the connecting plate, and the first clamping plate is fixed to the piston rod end of the electric push rod.

[0010] Preferably, the clamp includes a rubber sheet and a rectangular plate, the rubber sheet is fixed on one side of the rectangular plate, a plurality of round rods are fixed on the other end of the rectangular plate, the plurality of round rods are slidably inserted on the first clamp, and a first spring is sleeved on the outer wall of the round rod between the rectangular plate and the first clamp.

[0011] Preferably, the moving mechanism includes a servo motor, a bidirectional screw and two fixed blocks, the two fixed blocks are fixed at the two ends of the lower surface of the base, the bidirectional screw is rotatably installed between the two fixed blocks, the servo motor is installed at one end of the bidirectional screw, the upper ends of the two support blocks are respectively threadedly connected to the two ends of the bidirectional screw, the upper ends of the support blocks are integrally formed with a protrusion, and the lower surface of the base is provided with a sliding groove for the protrusion to slide.

[0012] Preferably, the automatic flipping mechanism includes a motor and a rotating shaft, a notch is opened at the lower end of the support block, the rotating shaft is rotatably connected inside the notch, the motor is installed at the upper end of the rotating shaft, and a protrusion is integrally formed with one end of the second clamping plate, and the protrusion is sleeved and fixed on the outer wall of the rotating shaft in the notch.

[0013] Preferably, the buffer plate includes a base plate, a buffer sheet and a plurality of T-shaped rods, the buffer sheet is fixed on one side of the base plate, one end of the plurality of T-shaped rods passes through a second clamping plate and is fixed to the other side of the base plate, and a second spring is sleeved on the outer wall of the T-shaped rod between the base plate and the second clamping plate, and the second clamping plate is provided with through holes for the plurality of T-shaped rods to pass through.

[0014] Preferably, a plurality of rubber strips are fixed at equal intervals on the lower surface of the first clamping plate, and the second clamping plate is provided with clearance holes for the plurality of rubber strips to pass through.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. The utility model clamps the workpiece by using the relative clamping force between the clamping piece with a rebound function and the buffer plate through the cooperation of the upper clamping component and the lower clamping component. Since the clamping piece and the buffer plate both have a certain elasticity, a certain buffer space is provided between the clamping piece and the buffer plate during clamping, which weakens the clamping stress, reduces the risk of the workpiece being clamped, and improves the welding quality of the workpiece to a certain extent.

[0017] 2. The utility model cooperates with the second clamping plate and the automatic flipping mechanism so that the second clamping plate can be flipped 90 degrees according to the actual workpiece clamping requirements, so as to be suitable for clamping different workpieces for welding, thereby improving the versatility of the gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the mobile mechanism and base explosion structure of the utility model;

[0020] Figure 3 It is a schematic diagram of the exploded structure of the upper clamping assembly, the lower clamping assembly and the support block of the utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the second splint after flipping over in the utility model.

[0022] In the figure: 1. base; 2. connecting mechanism; 3. supporting block; 4. moving mechanism; 401. servo motor; 402. fixing block; 403. bidirectional screw; 404. protrusion; 405. slide groove; 5. upper clamping assembly; 501. connecting plate; 502. electric push rod; 503. first clamping plate; 504. rubber sheet; 6. lower clamping assembly; 601. motor; 602. rotating shaft; 603. notch; 604. buffer sheet; 605. base plate; 606. second spring; 607. second clamping plate; 608. protrusion; 609. T-bar; 7. rubber strip; 8. clearance hole. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-4 The utility model provides a technical solution: a gripper for a welding robot, comprising a base 1, a connecting mechanism 2 for mounting with an arm of the welding robot is installed on the upper surface of the base 1, the connecting mechanism 2 comprises a connecting column, a flange is arranged on the connecting column, a plurality of mounting holes are arranged on the flange, and the mounting holes are convenient for connecting and fixing with the arm of the welding robot, a moving mechanism 4 capable of horizontal bidirectional movement is installed on the lower surface of the base 1, support blocks 3 are installed at both ends of the moving mechanism 4, the upper end of the support block 3 is slidably connected to the lower surface of the base 1, an upper clamping assembly 5 capable of moving up and down is installed on the upper end of one side of the support block 3, and a lower clamping assembly 6 capable of 90° flipping is installed on the lower end of one side of the support block 3; the two support blocks 3 are driven to move in relative directions by the moving mechanism 4, so that the support block 3 drives the upper clamping assembly 5 and the lower clamping assembly 6 on both sides to move in relative directions, so as to be suitable for clamping workpieces of different sizes, and then the upper clamping assembly 5 is moved to adjust the distance between the upper clamping assembly 5 and the lower clamping assembly 6, so as to clamp and fix the workpiece.

[0025] The upper clamping assembly 5 includes a first clamping plate 503 and a lifting mechanism. The lifting mechanism is installed on one side of the support block 3. The first clamping plate 503 is installed on the lifting mechanism, and a clamp with a rebound function is installed on the lower surface of the first clamping plate 503. One end of the first clamping plate 503 is slidably connected to one side of the support block 3. The lower clamping assembly 6 includes a second clamping plate 607 and an automatic flipping mechanism. The automatic flipping mechanism is embedded in the lower end of one side of the support block 3. The second clamping plate 607 is installed on the automatic flipping mechanism, and an elastic buffer plate is installed on the side of the second clamping plate 607 close to the first clamping plate 503. The workpiece is clamped by utilizing the relative clamping force between the clamp with a rebound function and the buffer plate. Since the clamp and the buffer plate both have a certain elasticity, the clamp and the buffer plate have a certain buffer space when clamping, which weakens the clamping stress, reduces the workpiece from being clamped, and improves the welding quality of the workpiece to a certain extent.

[0026] The lifting mechanism includes an electric push rod 502 and a connecting plate 501. The connecting plate 501 is fixed on one side of the support block 3. The mounting seat end of the electric push rod 502 is fixed on the lower surface of the connecting plate 501. The first clamping plate 503 is fixed on the piston rod end of the electric push rod 502. The first clamping plate 503 is driven by the electric push rod 502 to move upward or downward to adjust the distance between the first clamping plate 503 and the second clamping plate 607. The workpiece is clamped and fixed by the relative clamping force of the clamping plate on the first clamping plate 503 and the buffer plate 604 on the second clamping plate 607.

[0027] The clamp includes a rubber sheet 504 and a rectangular plate. The rubber sheet 504 is fixed on one side of the rectangular plate. A plurality of round rods are fixed on the other end of the rectangular plate. The plurality of round rods are slidably inserted on the first clamping plate 503, and a first spring is sleeved on the outer wall of the round rod between the rectangular plate and the first clamping plate 503. When clamping, the workpiece applies an external force to the first spring in the opposite direction through the rectangular plate, so that the first spring has a reverse buffering force to weaken the clamping stress on the workpiece and reduce the chance of the workpiece being clamped.

[0028] The moving mechanism 4 includes a servo motor 401, a bidirectional screw 403 and two fixed blocks 402. The two fixed blocks 402 are fixed at both ends of the lower surface of the base 1. The bidirectional screw 403 is rotatably installed between the two fixed blocks 402. The servo motor 401 is installed at one end of the bidirectional screw 403. The upper ends of the two support blocks 3 are respectively threadedly connected to the two ends of the bidirectional screw 403. The upper ends of the support blocks 3 are integrally formed with protrusions 404. The lower surface of the base 1 is provided with a slide groove 405 for the protrusion 404 to slide. The bidirectional screw 403 is driven to rotate by the servo motor 401. Since the bidirectional screw 403 is threadedly connected to the support block 3 and the protrusion 404 slides in the slide groove 405, the support block 3 moves in relative directions on the bidirectional screw 403 to adjust the distance between the support blocks 3 on both sides, so that it is suitable for clamping workpieces of different sizes.

[0029] The automatic flipping mechanism includes a motor 601 and a rotating shaft 602. A notch 603 is provided at the lower end of the support block 3. The rotating shaft 602 is rotatably connected to the inside of the notch 603. The motor 601 is installed at the upper end of the rotating shaft 602. A protrusion 608 is integrally formed at one end of the second clamping plate 607. The protrusion 608 is sleeved and fixed on the outer wall of the rotating shaft 602 in the notch 603. The rotating shaft 602 is driven to rotate by the motor 601, and the rotating shaft 602 drives the protrusion 608 to flip 90° in the notch 603. At this time, the second clamping plate 607 is parallel to the support block 3, and the relative clamping force between the buffer plates on the second clamping plates 607 on both sides is used to clamp the side of the workpiece, so as to be suitable for clamping different workpieces for welding, thereby improving the versatility of the gripper.

[0030] The buffer plate includes a base plate 605, a buffer sheet 604 and a plurality of T-shaped rods 609, the buffer sheet 604 is fixed on one side of the base plate 605, one end of the plurality of T-shaped rods 609 passes through the second clamping plate 607 and is fixed to the other side of the base plate 605, and the outer wall of the T-shaped rod 609 between the base plate 605 and the second clamping plate 607 is sleeved with a second spring 606, and the second clamping plate 607 is provided with a through hole for the plurality of T-shaped rods 609 to pass through. The second clamping plate 607 contacts the workpiece through the buffer sheet 604 to reduce the stress generated by the base plate 605 on the workpiece. When clamping, the clamped workpiece will provide a reverse force to the base plate 605, so that the workpiece compresses the second spring 606 to a certain extent, and the elasticity of the second spring 606 is used to reduce the clamping stress of the second clamping plate 607 on the workpiece.

[0031] A plurality of rubber strips 7 are fixed at equal intervals on the lower surface of the first clamping plate 503, and a clearance hole 8 for the plurality of rubber strips 7 to pass through is opened on the second clamping plate 607. When the second clamping plates 607 on both sides clamp and fix the workpiece from the side, the plurality of rubber strips 7 are located on both sides of the workpiece to prevent the workpiece from directly contacting the support block 3, thereby reducing the clamping stress generated by the support block 3 on the workpiece and effectively preventing the workpiece from being clamped.

[0032] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripper for a welding robot, comprising a base (1), the upper surface of the base (1) being provided with a connection mechanism (2) for mounting with a welding robot arm, characterized in that: The lower surface of the base (1) is provided with a moving mechanism (4) capable of horizontal bidirectional movement, support blocks (3) are provided at both ends of the moving mechanism (4), the upper end of the support block (3) is slidably connected to the lower surface of the base (1), an upper clamping assembly (5) capable of vertical movement is provided at the upper end of one side of the support block (3), and a lower clamping assembly (6) capable of 90° flipping is provided at the lower end of one side of the support block (3); The upper clamping assembly (5) includes a first clamping plate (503) and a lifting mechanism, wherein the lifting mechanism is installed on one side of the support block (3), the first clamping plate (503) is installed on the lifting mechanism, and a clamping piece with a rebound function is installed on the lower surface of the first clamping plate (503), and one end of the first clamping plate (503) is slidably connected to one side of the support block (3). The lower clamping assembly (6) includes a second clamping plate (607) and an automatic flipping mechanism, wherein the automatic flipping mechanism is embedded in the lower end of one side of the support block (3), the second clamping plate (607) is installed on the automatic flipping mechanism, and an elastic buffer plate is installed on the side of the second clamping plate (607) close to the first clamping plate (503).

2. A gripper for a welding robot according to claim 1, characterized in that: The lifting mechanism comprises an electric push rod (502) and a connecting plate (501), wherein the connecting plate (501) is fixed to one side of the support block (3), the mounting seat end of the electric push rod (502) is fixed to the lower surface of the connecting plate (501), and the first clamping plate (503) is fixed to the piston rod end of the electric push rod (502).

3. A gripper for a welding robot according to claim 2, characterized in that: The clamping piece comprises a rubber sheet (504) and a rectangular plate, wherein the rubber sheet (504) is fixed on one side of the rectangular plate, and a plurality of round rods are fixed on the other end of the rectangular plate, wherein the plurality of round rods are slidably plugged into the first clamping plate (503), and a first spring is sleeved on the outer wall of the round rod between the rectangular plate and the first clamping plate (503).

4. A gripper for a welding robot according to claim 3, characterized in that: The moving mechanism (4) comprises a servo motor (401), a bidirectional screw (403) and two fixed blocks (402), wherein the two fixed blocks (402) are fixed at two ends of the lower surface of the base (1), the bidirectional screw (403) is rotatably mounted between the two fixed blocks (402), the servo motor (401) is mounted at one end of the bidirectional screw (403), the upper ends of the two support blocks (3) are respectively threadedly connected to the two ends of the bidirectional screw (403), the upper ends of the support blocks (3) are integrally formed with a protrusion (404), and the lower surface of the base (1) is provided with a slide groove (405) for the protrusion (404) to slide.

5. A gripper for a welding robot according to claim 4, characterized in that: The automatic flipping mechanism comprises a motor (601) and a rotating shaft (602); a notch (603) is provided at the lower end of the support block (3); the rotating shaft (602) is rotatably connected inside the notch (603); the motor (601) is mounted on the upper end of the rotating shaft (602); a protrusion (608) is integrally formed at one end of the second clamping plate (607); and the protrusion (608) is sleeved and fixed on the outer wall of the rotating shaft (602) in the notch (603).

6. A gripper for a welding robot according to claim 5, characterized in that: The buffer plate comprises a base plate (605), a buffer sheet (604) and a plurality of T-shaped rods (609); the buffer sheet (604) is fixed on one side of the base plate (605); one end of the plurality of T-shaped rods (609) passes through a second clamping plate (607) and is fixed to the other side of the base plate (605); a second spring (606) is sleeved on the outer wall of the T-shaped rod (609) between the base plate (605) and the second clamping plate (607); and a through hole is provided on the second clamping plate (607) for the plurality of T-shaped rods (609) to pass through.

7. A gripper for a welding robot according to claim 6, characterized in that: A plurality of rubber strips (7) are fixed at equal intervals on the lower surface of the first clamping plate (503), and a clearance hole (8) for the plurality of rubber strips (7) to pass through is provided on the second clamping plate (607).

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