Anti-collision mechanism for robot welding gun

Abstract

The utility model discloses an anti-collision mechanism for a robot welding gun, and relates to the field of welding gun production equipment. The anti-collision mechanism comprises a movable seat and a fixed seat which are coaxially and detachably connected, and a connecting assembly arranged between the fixed seat and the movable seat comprises a magnet; the positioning assembly comprises an axial positioning pin and a radial positioning groove, the axial positioning pin is arranged on one of the fixed seat and the movable seat, and the radial positioning groove allowing the axial positioning pin to be inserted is formed in the other one of the fixed seat and the movable seat in the radial direction of the other one of the fixed seat and the movable seat. And two limiting positioning pins for clamping the axial positioning pins are arranged in the radial positioning groove from outside to inside. According to the device, the structural design is simple, smooth and accurate positioning connection can be guaranteed through detachable connection in a magnetic attraction mode in cooperation with axial and radial positioning, when collision occurs, separation can be conducted in time, damage to a welding gun is avoided, follow-up reset is very simple, reset is achieved through magnetic attraction connection, and guarantee is provided for high-precision welding.

Description

Technical Field

[0001] The utility model relates to the technical field of welding gun processing, in particular to an anti-collision mechanism for a robot welding gun. Background Art

[0002] The spot welding robot is an industrial robot used for automatic spot welding. The spot welding robot consists of the robot body, computer control system, teaching box and spot welding system (welding gun). In order to meet the working requirements of flexible movements, the electric welding robot usually adopts the basic design of articulated industrial robots, which generally have six degrees of freedom. The spot welding robot performs spot welding operations according to the movements, sequences and parameters specified by the teaching program. The process is fully automated and has an interface for communicating with external devices. It can accept control commands from the upper-level master control and management computers through this interface to work.

[0003] The robot body is connected to the welding gun. However, during the welding process and teaching programming, the welding gun often hits the workpiece and other obstacles, causing damage to the welding gun and displacement of the welding position, which directly affects the safety of production and operation. In serious cases, it may cause overload damage to the welding robot or other serious safety accidents. For this reason, it is necessary to install an anti-collision device between the welding robot and the welding gun. However, the existing anti-collision device is generally a special type with low versatility. At the same time, it generally uses a spring for reset. The accuracy of this spring reset is not high and cannot adapt to high-precision welding operations. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides an anti-collision mechanism for a robot welding gun.

[0005] The technical solution of the utility model is: the utility model provides an anti-collision mechanism for a robot welding gun, the anti-collision mechanism is arranged between the welding robot and the welding gun, and the anti-collision mechanism includes:

[0006] Fixed seat;

[0007] A movable seat, the movable seat is coaxially and detachably connected to the fixed seat;

[0008] A connecting assembly, the connecting assembly is arranged between the fixed seat and the movable seat, the connecting assembly comprises a magnet, and the magnet is arranged on the fixed seat and / or the movable seat; and

[0009] A positioning assembly, the positioning assembly includes an axial positioning pin and a radial positioning groove, an axial positioning pin is set on one of the fixed seat and the movable seat and the axial positioning pin is parallel to its axial direction, and a radial positioning groove is set on the other component along its radial direction for the axial positioning pin to be inserted, the radial positioning groove is perpendicular to the axial positioning pin, two limit positioning pins are set from the outside to the inside in the radial positioning groove, and the two limit positioning pins are clamped on both sides of the axial positioning pin.

[0010] Furthermore, the two limiting positioning pins are arranged parallel to each other, and the gap between them can and only can accommodate the axial positioning pin to be inserted. The limiting positioning pin can be equivalently understood as being arranged radially (actually forming a small angle with the radial direction), which mainly limits the rotation of the axial positioning pin after insertion.

[0011] Furthermore, the length of the radial positioning groove is greater than the diameter of the axial positioning pin, so as to ensure the stability of the insertion process of the two and enable them to slide out in time when a collision occurs.

[0012] Furthermore, the groove bottom of the radial positioning groove is flush with the bottom side of the limiting positioning pin, so as to ensure that the axial positioning pin can be inserted stably and can be disengaged smoothly.

[0013] Furthermore, the inner wall of the radial positioning groove is provided with an arc surface that matches with the axial positioning pin, so as to ensure smooth insertion.

[0014] Furthermore, the positioning components are provided in at least two groups and are arranged asymmetrically, thereby ensuring the accuracy of the connection position and improving the accuracy of the reset.

[0015] Furthermore, a docking ring facing the movable seat is arranged on the outer periphery of the fixed seat, and the docking ring is arranged in coordination with the outer periphery of the movable seat, thereby ensuring stability and accuracy during the resetting process.

[0016] Furthermore, the magnet is set on the fixed seat or the movable seat, and the side without the magnet is made of ferromagnetic material. In this case, there is no need to consider the installation direction of the magnet, and magnetic attraction can be achieved by ensuring that the other side is made of ferromagnetic material; this method is easy to install and is recommended. In addition, the side where the magnet is set can be fixed by common fixing methods such as clamping or gluing. If the side where the magnet is set is also made of ferromagnetic material, the installation of the magnet will be simpler and more convenient.

[0017] Furthermore, the magnets are arranged on the fixed seat and the movable seat, and it is necessary to ensure that the two can be connected smoothly to avoid the problem of magnets repelling each other. At the same time, the fixed seat and the movable seat do not need to be made of ferromagnetic materials, and can be connected only by corresponding magnets.

[0018] Furthermore, the magnet is embedded in the fixed seat or the movable seat, and the surface of the magnet does not exceed the surface of the fixed seat or the surface of the movable seat.

[0019] Furthermore, the fixed seat and the movable seat are both made of ferromagnetic metals, which are generally iron, nickel, cobalt and other metals, and are generally made of iron or alloys to achieve magnetic attraction.

[0020] Furthermore, the fixed seat is fixedly connected to the welding robot, and a welding gun is arranged outside the movable seat, so that the two can be detachably connected, that is, fast and accurate reset after collision is achieved.

[0021] Furthermore, a fixed connection seat fixedly connected to the robot is arranged on the fixed seat, and bolt holes are arranged on the fixed connection seat for connection.

[0022] Furthermore, a movable connecting seat is fixedly sleeved on the outer side of the movable seat, and a dustproof rubber sleeve is arranged between the movable connecting seat and the fixed seat. The two ends of the dustproof rubber sleeve are respectively clamped on the circumference of the fixed seat and the circumference of the movable connecting seat, and an annular clamping groove is arranged on the circumference of the two.

[0023] Furthermore, an outer protective shell is provided at the connection between the movable connecting seat and the welding gun, which is also provided by a clamping method to play a role of dust prevention and protection.

[0024] The beneficial technical effect of the utility model is: the structural design of the present application is streamlined, and the detachable connection in the form of magnetic attraction is combined with axial and radial positioning, which can not only ensure smooth and accurate positioning connection, but also can be separated in time when a collision occurs, avoiding damage to the welding gun, and the subsequent reset is also very simple, and it can be connected by magnetic attraction, which provides a guarantee for high-precision welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall schematic diagram of the anti-collision mechanism for a robot welding gun.

[0026] Figure 2 yes Figure 1 sectional view of .

[0027] Figure 3 It is a schematic diagram of the movable seat.

[0028] Figure 4 It is a schematic diagram of the magnet embedded in the movable seat.

[0029] Figure 5 is a schematic diagram of the fixing seat.

[0030] Figure 6 It is an assembly diagram of the longitudinal perspective of the positioning component.

[0031] Figure 7 It is an assembly diagram of the positioning component from a lateral perspective.

[0032] The reference numerals are as follows:

[0033] 1. Fixed seat, 11. Docking ring,

[0034] 2. Movable seat,

[0035] 3. Connecting components, 31. Magnets,

[0036] 4. Positioning assembly, 41. Axial positioning pin, 42. Radial positioning groove, 43. Limiting positioning pin,

[0037] 5.Fix the connection seat,

[0038] 6. Active connection seat,

[0039] 7. Dust-proof rubber sleeve,

[0040] 8. Outer protective shell. DETAILED DESCRIPTION

[0041] In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the specific implementation methods of the utility model are further described in detail below in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0042] See attached Figure 1-7 As shown, an anti-collision mechanism for a robot welding gun in this embodiment is provided between the welding robot and the welding gun, and the anti-collision mechanism comprises:

[0043] Fixed seat 1;

[0044] A movable seat 2, which is coaxially and detachably connected to the fixed seat 1;

[0045] A connecting component 3, which is disposed between the fixed seat 1 and the movable seat 2, and includes a magnet 31, which is disposed on the fixed seat 1 and / or the movable seat 2; and

[0046] The positioning assembly 4 includes an axial positioning pin 41 and a radial positioning groove 42. The axial positioning pin 41 is set on one of the fixed seat 1 and the movable seat 2, and the axial positioning pin 41 is parallel to its axial direction. The radial positioning groove 42 for inserting the axial positioning pin 41 is set along its radial direction on the other component. The radial positioning groove 42 is perpendicular to the axial positioning pin 41. Two limit positioning pins 43 are set from the outside to the inside in the radial positioning groove 42, and the two limit positioning pins 43 are clamped on both sides of the axial positioning pin 41.

[0047] Furthermore, the two limiting positioning pins 43 are arranged parallel to each other, and the gap between them can and only can accommodate the axial positioning pin 41. The limiting positioning pin 43 can be equivalently understood as being arranged radially (actually forming a small angle with the radial direction), which mainly limits the rotation of the axial positioning pin 41 after insertion.

[0048] Furthermore, the length of the radial positioning groove 42 is greater than the diameter of the axial positioning pin 41, so as to ensure the stability of the insertion process of the two, and at the same time, when a collision occurs, they can slide out in time.

[0049] Furthermore, the bottom of the radial positioning groove 42 is flush with the bottom side of the limiting positioning pin 43, so as to ensure that the axial positioning pin 41 can be inserted stably and can be disengaged smoothly.

[0050] Furthermore, the inner wall of the radial positioning groove 42 is provided with an arc surface that matches with the axial positioning pin 41, so as to ensure smooth insertion.

[0051] Furthermore, at least two groups of positioning components 4 are provided, and they are arranged asymmetrically, so as to ensure the accuracy of the connection position and improve the accuracy of the reset.

[0052] Furthermore, a docking ring 11 facing the movable seat 2 is arranged on the outer periphery of the fixed seat 1. The docking ring 11 is arranged in coordination with the outer periphery of the movable seat 2, thereby ensuring stability and accuracy during the resetting process.

[0053] Furthermore, the magnet 31 is set on the fixed seat 1 or the movable seat 2, and the side without the magnet 31 is made of ferromagnetic material. At this time, there is no need to consider the installation direction of the magnet 31, and magnetic attraction can be achieved by ensuring that the other side is made of ferromagnetic material; this method is easy to install and is recommended. In addition, the side where the magnet 31 is set can be fixed by common fixing methods such as clamping or gluing. If the side where the magnet 31 is set is also made of ferromagnetic material, the installation of the magnet 31 will be simpler and more convenient.

[0054] Furthermore, the magnets 31 are arranged on the fixed seat 1 and the movable seat 2, and it is necessary to ensure that the two can be connected smoothly to avoid the problem of mutual repulsion of the magnets 31. At the same time, the fixed seat 1 and the movable seat 2 do not need to be made of ferromagnetic materials, and can be connected only through the corresponding magnets 31.

[0055] Furthermore, the magnet 31 is embedded in the fixed seat 1 or the movable seat 2 , and the surface of the magnet 31 does not exceed the surface of the fixed seat 1 or the surface of the movable seat 2 .

[0056] Furthermore, the fixed seat 1 and the movable seat 2 are both made of ferromagnetic metals. Ferromagnetic metals are generally metals such as iron, nickel, and cobalt, and generally iron or alloys are used to achieve magnetic attraction.

[0057] Furthermore, the fixed seat 1 is fixedly connected to the welding robot, and a welding gun is arranged outside the movable seat 2. The detachable connection between the two is realized, that is, fast and accurate reset after collision is realized.

[0058] Furthermore, a fixed connection seat 5 fixedly connected to the robot is arranged on the fixed seat 1. Bolt holes are arranged on the fixed connection seat 5 for connection.

[0059] Furthermore, a movable connection seat 6 is fixedly sleeved on the outer side of the movable seat 2, and a dustproof rubber sleeve 7 is arranged between the movable connection seat 6 and the fixed seat 1. The two ends of the dustproof rubber sleeve 7 are respectively clamped on the circumference of the fixed seat 1 and the circumference of the movable connection seat 6, and an annular clamping groove is arranged on the circumference of the two.

[0060] Further, an outer protective shell 8 is arranged at the connection between the movable connecting seat 6 and the welding gun. It is also arranged by a clamping method to play a role of dustproof and protection.

[0061] The structural design of the present application is streamlined, and the detachable connection in the form of magnetic attraction is combined with axial and radial positioning to ensure smooth and accurate positioning and connection. At the same time, when a collision occurs, it can also be separated in time to avoid damage to the welding gun. The subsequent reset is also very simple and can be connected through magnetic attraction, which provides a guarantee for high-precision welding.

[0062] See attached Figure 3 As shown, the link assembly designed in the present application is provided with 12 magnets, which are embedded, and two axial positioning pin mounting holes are provided on the surface, which are asymmetrically arranged about the central axis;

[0063] See attached Figure 5-7 The axial positioning pin is inserted into the radial positioning groove and is limited by two limiting positioning pins to prevent the two from rotating in the circumferential direction. This provides accurate and stable positioning.

[0064] At the same time, the anti-collision mechanism designed in the present application can be used for water-cooled welding guns or gas-cooled welding guns.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. An anti-collision mechanism for a robot welding gun, the anti-collision mechanism being arranged between the welding robot and the welding gun, characterized in that: The anti-collision mechanism comprises: Fixed seat (1); A movable seat (2), wherein the movable seat (2) is coaxially and detachably connected to the fixed seat (1); A connecting component (3), the connecting component (3) being arranged between the fixed seat (1) and the movable seat (2), the connecting component (3) comprising a magnet (31), the magnet (31) being arranged on the fixed seat (1) and / or the movable seat (2); and A positioning assembly (4), the positioning assembly (4) comprising an axial positioning pin (41) and a radial positioning groove (42), wherein the axial positioning pin (41) is arranged on one of the fixed seat (1) and the movable seat (2), and the axial positioning pin (41) is parallel to the axial direction thereof, and a radial positioning groove (42) for inserting the axial positioning pin (41) is arranged on the other of the components along its radial direction, the radial positioning groove (42) is perpendicular to the axial positioning pin (41), and two limiting positioning pins (43) are arranged in the radial positioning groove (42) from the outside to the inside, and the two limiting positioning pins (43) are clamped on both sides of the axial positioning pin (41).

2. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: The two limiting positioning pins (43) are arranged parallel to each other, and the gap between them can and only can allow the axial positioning pin (41) to be inserted and arranged.

3. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: The length of the radial positioning groove (42) is greater than the diameter of the axial positioning pin (41).

4. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: The groove bottom of the radial positioning groove (42) is flush with the bottom side of the limiting positioning pin (43).

5. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: The positioning components (4) are arranged in at least two groups and are arranged asymmetrically.

6. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: A docking ring (11) facing the movable seat (2) is arranged on the outer periphery of the fixed seat (1).

7. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: The magnet (31) is arranged on the fixed seat (1) or the movable seat (2), and the side where the magnet (31) is not arranged is made of ferromagnetic material.

8. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: The magnet (31) is embedded in the fixed seat (1) or the movable seat (2), and the surface of the magnet (31) does not exceed the surface of the fixed seat (1) or the surface of the movable seat (2).

9. The anti-collision mechanism for a robot welding gun according to claim 1, characterized in that: The fixed seat (1) is fixedly connected to the welding robot, and a welding gun is arranged on the outside of the movable seat (2).

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