Disassembly-free welding gun calibrator for welding robot

Abstract

The utility model discloses a disassembly-free welding gun calibrator for a welding robot. Comprising a gun corrector base plate and a welding gun clamping mechanism arranged on the gun corrector base plate, a welding gun correcting mechanism is installed on the gun corrector base plate, and the welding gun correcting mechanism comprises a bottom supporting assembly, a rotary pressing assembly and side pressing assemblies symmetrically arranged on the two sides of the bottom supporting assembly; the bottom supporting assembly comprises a lower support and a lower execution element, the lower execution element is provided with a supporting plate, the side pressing assembly comprises a side support and a side pressing execution element, and the side pressing execution element is horizontally arranged; the rotary pressing assembly comprises a rotary execution element, a rotary support and an upper execution element, when the gun is calibrated, the upper execution element is located above the supporting plate, and the upper execution element, the two side pressure execution elements and the lower execution element are in a cross shape. According to the welding gun calibration device, the production recovery cost after the arc welding robot collides with the gun is greatly reduced, the gun calibration efficiency is improved, the dependence on professional technicians is reduced, the welding gun calibration precision is greatly improved, the structure is simple, and the cost is low.

Description

Technical Field

[0001] The utility model relates to a welding robot, in particular to a disassembly-free welding gun calibrator for the welding robot. Background Art

[0002] Automated robots are involved in many fields such as handling, spraying, palletizing, bending, welding, etc. Among them, welding robots have the most stringent requirements on precision and special welding processability, and welding robots are unique in terms of quantity and quality requirements.

[0003] It is inevitable that welding robots will collide with the gun during the teaching programming and teaching production process. The price of a welding gun is generally around 5,000 yuan, which is relatively expensive. Therefore, after a gun collision occurs, it is urgent to resume production as soon as possible with the lowest cost.

[0004] When the robot welding gun collides, the actual TCP point of the robot deviates from the theoretical TCP point and cannot be used normally. The conventional practice is to directly replace the welding gun with a new one or remove the bent welding gun and use some tools to correct the gooseneck angle of the welding gun. The whole process is time-consuming and labor-intensive, with a high risk factor. The welding gun may be damaged at any time and is particularly dependent on professional technicians who are familiar with the robot system. The Chinese utility model with authorization announcement number CN208067534U discloses an arc welding robot welding gun calibration mechanism, which requires the welding gun to be disassembled, is inefficient, time-consuming and labor-intensive. Utility Model Content

[0005] The utility model aims to solve the above technical problems, thereby providing a disassembly-free welding gun calibrator for a welding robot, which improves the welding gun calibration efficiency and the calibration accuracy.

[0006] The utility model solves the technical problem and adopts the following technical solution:

[0007] A non-disassembly welding gun calibrator for a welding robot comprises a calibrator chassis and a welding gun clamping mechanism disposed on the calibrator chassis; a welding gun correction mechanism is installed on the calibrator chassis, and the welding gun correction mechanism comprises a bottom support assembly, a rotary clamping assembly and side pressure assemblies symmetrically disposed on both sides of the bottom support assembly; the bottom support assembly comprises a lower bracket and a lower actuator, the lower actuator is provided with a support plate, the side pressure assembly comprises a side bracket and a side pressure actuator, and the side pressure actuator is arranged horizontally; the rotary clamping assembly comprises a rotary actuator, a rotary bracket and an upper actuator, and when calibrating the gun, the upper actuator is located above the support plate, and the upper actuator, two side pressure actuators and the lower actuator are in a cross shape.

[0008] Compared with the prior art, the utility model adopting the above technical solution has the following beneficial effects:

[0009] Greatly reduce the cost of resuming production after the arc welding robot collides with the gun, improve the efficiency of gun alignment, reduce the dependence on professional technicians, greatly improve the accuracy of gun calibration, with simple structure and low cost.

[0010] Furthermore, the optimization scheme of the present utility model is:

[0011] The lower actuator, side pressure actuator and upper actuator are cylinders, hydraulic cylinders or electric push rods.

[0012] Ends of the piston rods of the side pressure actuator and the upper actuator are both equipped with pressing blocks, and the outer end faces of the pressing blocks are concave arcs.

[0013] The rotary actuator is a rotary motor, the rotary bracket is in an inverted L shape, the vertical part of the rotary bracket is installed on the output shaft of the rotary motor, and the upper actuator is installed on the bottom surface of the outer end of the horizontal part of the rotary bracket.

[0014] The gun clamping mechanism includes a clamping bracket, a bottom plate, a fixed clamping block, a clamping block, a clamping cylinder and a clamping cylinder bracket. The bottom plate is horizontally and fixedly connected to the clamping bracket. A fixed clamping block is fixedly connected to one side of the bottom plate, a clamping block is provided on the other side of the bottom plate, the clamping block is installed on the horizontally arranged clamping cylinder, and the clamping cylinder is installed on the top of the clamping cylinder bracket.

[0015] Positioning plates are respectively provided at the upper parts of both ends of the inner side surface of the fixed clamping block and at the upper part of the outer end of the inner side surface of the clamping block.

[0016] The top surface of the support plate is arc-shaped, and the support plate is fixedly connected to the lower bracket through a lower cylinder.

[0017] A signal collector is installed on the lower bracket of the bottom support assembly.

[0018] Alignment references are provided at the corners of the gun aligner chassis. Description of the Drawings

[0019] Figure 1 Is an axonometric view of an embodiment of the present utility model;

[0020] Figure 2 Is a top view of an embodiment of the present utility model;

[0021] In the figure: gun calibration device chassis 1; welding torch clamping mechanism 2; clamping bracket 2-1; bottom plate 2-2; fixed clamping block 2-3; clamping block 2-4; clamping cylinder 2-5; clamping cylinder bracket 2-6; positioning plate 2-7; bottom support assembly 3; lower bracket 3-1; lower cylinder 3-2; support plate 3-3; side pressing assembly 4; left bracket 4-1; left cylinder 4-2; pressing block 4-3; right bracket 4-4; right cylinder 4-5; rotating pressing assembly 5; rotating motor 5-1; rotating bracket 5-2; upper cylinder 5-3; gun calibration reference 6; signal collector 7; PLC control system 8; welding torch 9. Detailed implementation mode

[0022] The present utility model will be further described in detail below with reference to the drawings and embodiments.

[0023] See Figure 1 、 Figure 2 As shown in the figure, this embodiment provides a non-disassembled welding torch calibration device for a welding robot, which mainly consists of a gun calibration device chassis 1, a welding torch clamping mechanism 2 and a welding torch calibration mechanism. The gun calibration device chassis 1 is a rectangular steel plate, which is horizontally arranged, and a notch structure is provided at one corner of its left end.

[0024] The welding torch clamping mechanism 2 is arranged at the left end of the gun calibration device chassis 1. The welding torch clamping mechanism 2 mainly consists of a clamping bracket 2-1, a bottom plate 2-2, a fixed clamping block 2-3, a clamping block 2-4, a clamping cylinder 2-5, a clamping cylinder bracket 2-6 and a positioning plate 2-7. The clamping bracket 2-1 is vertically welded to the gun calibration device chassis 1, the bottom plate 2-2 is horizontally welded to the upper end of the clamping bracket 2-1, the front side of the upper surface of the bottom plate 2-2 is welded with a fixed clamping block 2-3, the fixed clamping block 2-3 is perpendicular to the bottom plate 2-2, the rear side of the upper surface of the bottom plate 2-2 is provided with a clamping block 2-4, the clamping block 2-4 is parallel to the fixed clamping block 2-3, the clamping block 2-4 is installed on the piston rod of the clamping cylinder 2-5, the clamping cylinder 2-5 is horizontally arranged, the cylinder body of the clamping cylinder 2-5 is installed on the clamping cylinder bracket 2-6, and the clamping cylinder bracket 2-6 is installed on the gun calibration device chassis 1. Positioning plates 2-7 are respectively provided at the upper parts of the two ends of the inner side surface of the fixed clamping block 2-3 and at the upper part of the outer end of the inner side surface of the clamping block 2-4. The positioning plate 2-7 is used to limit the welding torch 9.

[0025] The welding torch calibration mechanism is installed in the middle of the gun calibration device chassis 1. The welding torch calibration mechanism mainly consists of a bottom support assembly 3, a side pressing assembly 4 and a rotating pressing assembly 5. The bottom support assembly 3 mainly consists of a lower bracket 3-1, a lower cylinder 3-2 and a support plate 3-3. The lower bracket 3-1 is vertically installed on the gun calibration device chassis 1, the top end of the lower bracket 3-1 is installed with a lower cylinder 3-2, the cylinder body of the lower cylinder 3-2 is fixedly connected with the lower bracket 3-1, the end of the piston rod of the lower cylinder 3-2 is installed with a support plate 3-3, and the top surface of the support plate 3-3 is arc-shaped.

[0026] On both sides of the bottom support assembly 3, side pressure assemblies 4 are symmetrically arranged respectively. The side pressure assembly 4 is mainly composed of a left bracket 4-1, a left cylinder 4-2, a pressing block 4-3, a right bracket 4-4, and a right cylinder 4-5. The left bracket 4-1 is vertically installed on the gun calibration chassis 1 on the left side of the lower bracket 3-1. At the top of the left bracket 4-1, a left cylinder 4-2 is installed. The axis of the left cylinder 4-2 is horizontally arranged. The cylinder body of the left cylinder 4-2 is fixedly connected to the left bracket 4-1. A pressing block 4-3 is installed on the piston rod of the left cylinder 4-2. The outer end face of the pressing block 4-3 is a concave arc. The right bracket 4-4 is vertically installed on the gun calibration chassis 1 on the right side of the lower bracket 3-1. At the top of the right bracket 4-4, a right cylinder 4-5 is installed. The axis of the right cylinder 4-5 is horizontally arranged. A pressing block 4-3 is installed on the piston rod of the right cylinder 4-5. The left cylinder 4-2 and the right cylinder 4-5 are symmetrically arranged and their axes coincide.

[0027] A rotary pressing assembly 5 is arranged between the welding torch clamping mechanism 2 and the bottom support assembly 3. The rotary pressing assembly 5 is mainly composed of a rotary motor 5-1, a rotary bracket 5-2, and an upper cylinder 5-3. The rotary motor 5-1 is installed on the gun calibration chassis 1. The axis of the rotary motor 5-1 is vertically arranged. The rotary bracket 5-2 is in an inverted L shape, and its vertical part is installed on the output shaft of the rotary motor 5-1. The upper cylinder 5-3 is installed on the bottom surface of the outer end of the horizontal part of the rotary bracket 5-2. The axis of the upper cylinder 5-3 is vertically arranged. The piston rod of the upper cylinder 5-3 faces downward and is installed with a pressing block 4-3. During gun calibration, the upper cylinder 5-3 is located directly above the lower bracket 3-1. The upper cylinder 5-3, the left cylinder 4-2, the right cylinder 4-5, and the lower cylinder 3-2 are in a cross shape.

[0028] Gun calibration benchmarks 6 are provided at the corners of the gun calibration chassis 1. A signal collector 7 is installed on the lower bracket 3-1 of the bottom support assembly 3. A PLC control system 8 is arranged on the welding torch clamping mechanism 2. Both the gun calibration benchmark 6 and the signal collector 7 are electrically connected to the PLC control system 8.

[0029] The welding correction process of the present utility model is as follows: When the welding torch 9 of the robot collides, after calling the robot gun calibration program, the robot will move to the designated position on the gun calibration chassis 1 according to the program instructions. The inner end of the welding torch 9 is located on the welding torch clamp 2, and the arc part of the welding torch 9 is located on the support plate 3-3. In this process, it is not necessary to remove the welding torch 9 of the robot, saving a large amount of disassembly and installation man-hours.

[0030] After the robot places the welding torch 9 at the designated position on the gun calibration chassis 1, the PLC control system 8 will give a start signal to the clamping cylinder 2-5 of the welding torch clamp 2. The clamping cylinder 2-5 will act according to the signal instructions for clamping, and the clamping block 2-4 will closely fit with the welding torch 9. At the same time, the rotary motor 5-1 will also receive a start signal, and the rotary bracket 5-2 will rotate to the set angle, and the upper cylinder 5-3 will be located directly above the lower bracket 3-1.

[0031] After all preparations are made, the signal collector 7 collects signals, scans the current situation of the welding torch 9, and compares it with the standard welding torch model size to judge the direction and angle magnitude of the welding torch deviation. The signals are transmitted to the PLC control system 8 through the data cable. The PLC control system 8 sends instructions to the upper cylinder 5-3, left cylinder 4-2, right cylinder 4-5 and lower cylinder 3-2 of the welding torch correction mechanism. The upper cylinder 5-3, left cylinder 4-2, right cylinder 4-5 and lower cylinder 3-2 cooperate and perform corrections according to a series of operations. The upper cylinder 5-3, left cylinder 4-2, right cylinder 4-5 and lower cylinder 3-2 all act multiple times. After correction, the signal collector 7 will scan the current situation of the welding torch 9 again and compare the data with the standard welding torch model. If the data deviation fluctuates within a certain allowable range, the work is completed. If it is found that the data deviation exceeds the allowable range value after data comparison, the welding torch correction action is performed again until the final data comparison reaches the allowable range value. Finally, the operator compares it with the gun calibration reference 6 again to check the correction effect.

[0032] The above are only the preferred and feasible embodiments of the present invention, and do not limit the scope of the rights of the present invention. Any equivalent structural changes made by using the content of the specification and drawings of the present invention are included in the scope of the rights of the present invention.

Claims

1. A welding gun calibration device for a welding robot, comprising a calibration device chassis and a welding gun clamping mechanism placed on the calibration device chassis, characterized in that: A welding gun correction mechanism is installed on the chassis of the gun calibrator, and the welding gun correction mechanism includes a bottom support assembly, a rotating clamping assembly, and side pressure assemblies symmetrically arranged on both sides of the bottom support assembly; The bottom support assembly includes a lower bracket and a lower actuator, the lower actuator is installed with a support plate, and the side pressure assembly includes a side bracket and a side pressure actuator, and the side pressure actuator is arranged horizontally; The rotary clamping assembly includes a rotary actuator, a rotary bracket and an upper actuator. When calibrating the gun, the upper actuator is located above the support plate, and the upper actuator, two side pressure actuators and the lower actuator are in a cross shape.

2. The non-disassembly welding gun calibrator for welding robots according to claim 1, characterized in that: The lower actuator, the side pressure actuator and the upper actuator are cylinders, hydraulic cylinders or electric push rods.

3. The non-disassembly welding gun calibrator for welding robot according to claim 1, characterized in that: The ends of the piston rods of the side pressure actuator and the upper actuator are both equipped with pressure blocks, and the outer end surface of the pressure block is an inwardly concave arc.

4. The non-disassembly welding gun calibrator for welding robots according to claim 1, characterized in that: The rotary actuator is a rotary motor, the rotary bracket is in an inverted L shape, the vertical portion of the rotary bracket is mounted on the output shaft of the rotary motor, and the upper actuator is mounted on the bottom surface of the outer end of the horizontal portion of the rotary bracket.

5. The non-disassembly welding gun calibrator for welding robots according to claim 1, characterized in that: The welding gun clamping mechanism includes a clamping bracket, a base plate, a fixed clamping block, a clamping block, a clamping cylinder and a clamping cylinder bracket. The base plate is horizontally fixed to the clamping bracket, a fixed clamping block is fixed to one side of the base plate, and a clamping block is provided on the other side of the base plate. The clamping block is installed on a horizontally arranged clamping cylinder, and the clamping cylinder is installed on the top of the clamping cylinder bracket.

6. The non-disassembly welding gun calibrator for welding robots according to claim 5, characterized in that: Positioning plates are respectively provided at the upper parts of the two ends of the inner side surface of the fixed clamping block and the upper part of the outer end of the inner side surface of the clamping block.

7. The non-disassembly welding gun calibrator for welding robots according to claim 1, characterized in that: The top surface of the support plate is arc-shaped, and the support plate is fixedly connected to the lower bracket through the lower cylinder.

8. The non-disassembly welding gun calibrator for welding robots according to claim 1, characterized in that: A signal collector is installed on the lower bracket of the bottom support assembly.

9. The non-disassembly welding gun calibrator for welding robot according to claim 1, characterized in that: A gun calibration reference is arranged at a corner of the gun calibration device chassis.

Images