Robot welding visual sensor tool clamp

Abstract

The utility model discloses a robot welding visual sensor work fixture, which belongs to the technical field of robot welding intelligent manufacturing and comprises a hollow connecting arm fixedly connected with a flange end of a sixth shaft of a robot, and one end, far away from the sixth shaft of the robot, of the hollow connecting arm is fixedly connected with a C-shaped chuck. The end, away from the hollowed-out connecting arm, of the C-shaped chuck is fixedly connected with the welding gun section of the sixth shaft, a rotary connecting block is rotationally connected to the hollowed-out connecting arm, the end, away from the hollowed-out connecting arm, of the rotary connecting block is slidably connected with a visual sensor, and an internal clamp is arranged in the visual sensor so that the internal structure of the visual sensor can be fixed. The technical problem that precision is affected by shaking or shaking in the welding process of a robot is solved, the requirements for welding environment recognition, welding locating, welding seam tracking and welding quality monitoring are met, the structure is compact and firm, the appearance is simple and elegant, and the automation degree is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent manufacturing of robot welding, and particularly relates to a fixture for a robot welding vision sensor. Background Art

[0002] Robot intelligent welding has the advantages of high working efficiency, stable quality and improved working conditions, and is widely used in fields such as automobile manufacturing, shipbuilding and heavy industry, and equipment manufacturing. It is an indispensable part of modern intelligent manufacturing. At present, most of the robots used in actual welding production at home and abroad are "teaching-playback" robots. This type of robot has no adaptability to the deviation of the teaching trajectory and does not have the functions of initial welding position finding and real-time tracking control of the weld seam. At the same time, the working conditions in the actual welding process are complex and changeable, which increases the difficulty of initial welding position guiding and real-time tracking control of the weld seam for the robot. Visual sensing technology plays an important role in the initial welding position guiding and real-time tracking control of the robot. Since robot intelligent welding has very high requirements for precision control, it is often required that the robot welding precision control is within millimeters, especially in position finding and weld seam tracking, the precision requirements will be higher. In order to ensure the precision of robot intelligent welding, the visual sensor fixture used must have good stiffness and anti-vibration to prevent the influence of shaking or jitter during the robot welding process on the precision.

[0003] Therefore, it is urgent to design a fixture for a robot welding vision sensor to prevent the influence of shaking or jitter during the robot welding process on the precision. Summary of the Utility Model

[0004] To solve the technical problem in the background art that the precision is affected due to shaking or jitter during the robot welding process, a fixture for a robot welding vision sensor is provided to solve the above problems.

[0005] To achieve the above object, the specific technical solution of the fixture for a robot welding vision sensor of the utility model is as follows:

[0006] A fixture for a robot welding vision sensor includes a hollow connecting arm fixedly connected to the flange end of the sixth axis of the robot. One end of the hollow connecting arm far from the sixth axis of the robot is fixedly connected with a C-shaped chuck. One end of the C-shaped chuck far from the hollow connecting arm is fixedly connected with the welding torch section of the sixth axis. A rotating connecting block is rotatably connected to the hollow connecting arm. One end of the rotating connecting block far from the hollow connecting arm is slidably connected with the vision sensor. An internal fixture is arranged inside the vision sensor to fix the internal structure of the vision sensor.

[0007] Furthermore, the hollow connecting arm includes a base. One end of the base is fixedly connected to the flange end of the sixth axis of the robot. At one end of the base away from the flange end of the sixth axis of the robot, a hollow section is fixedly connected. At one end of the hollow section away from the base, a fixing block is fixedly connected. The hollow connecting arm is rotationally connected to the rotary connecting block through the fixing block, and the hollow connecting arm is fixedly connected to the C-shaped chuck through the fixing block.

[0008] Furthermore, the hollow section is a rectangular frame.

[0009] Furthermore, a first through hole is provided on the fixing block, and a second through hole is provided on the C-shaped chuck. A first bolt sequentially passes through the first through hole and the second through hole and is screwed with a nut, thereby fixing the fixing block and the C-shaped chuck.

[0010] Furthermore, the length of the first through hole is greater than the diameter of the first bolt.

[0011] Furthermore, a dovetail groove is provided on the vision sensor, and the vision sensor is slidably connected to the rotary connecting block through the dovetail groove.

[0012] Furthermore, the rotary connecting block is made of insulating bakelite.

[0013] Furthermore, the internal fixture includes a CCD camera fixture for clamping the CCD camera and a line laser fixture for clamping the line laser.

[0014] Furthermore, the CCD camera fixture is provided with a hollow clamping member, and the clamping member is fixedly connected to the CCD camera by screwing. A fixing hole is provided inside the vision sensor, and the fixing hole is in fit connection with the clamping member to fix the clamping member.

[0015] Furthermore, the line laser fixture is provided with a semi-circular concave hole, and the shape of the semi-circular concave hole matches the shape of the line laser. An external connecting member is screwed on the semi-circular concave hole, and the shape of the external connecting member matches the shape of the line laser. The line laser is located between the semi-circular concave hole and the external connecting member, and a fastening screw is used to make the semi-circular concave hole and the external connecting member squeeze and fix the line laser.

[0016] The robot welding vision sensor tooling fixture of the present utility model has the following advantages: The present utility model solves the technical problem that the accuracy is affected due to shaking or jitter during the robot welding process, meets the requirements of welding environment recognition, welding position finding, weld seam tracking and welding quality monitoring, has a compact and firm structure, a simple and generous appearance, and a high degree of automation. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the robot welding vision sensor tooling fixture of the present utility model.

[0018] Figure 2 It is a schematic structural diagram of the hollow connecting arm of the present utility model.

[0019] Figure 3 This is a schematic diagram of the internal structure of the vision sensor of the present utility model.

[0020] Explanation of the markings in the figure: 1. The sixth axis of the robot; 101. Flange end; 102. Welding torch section; 2. Hollow connecting arm; 201. Base; 202. Hollow section; 203. Fixed block; 3. C-shaped chuck; 4. Rotating connecting block; 5. Vision sensor; 501. Dovetail groove; 502. CCD camera fixture; 5021. Clamping piece; 503. Line laser fixture; 5031. Semi-circular concave hole; 5032. External connecting piece; 6. CCD camera; 7. Line laser; 100. First through hole; 200. Second through hole; 300. First bolt. Specific embodiments

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0022] Those skilled in the art can understand that although some of the embodiments herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present utility model and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0023] Next, refer to the attached Figure 1 to the attached Figure 3 Describe the robot welding vision sensor tooling fixture of the present utility model.

[0024] The existing robot welding process is affected by shaking or jitter, which cannot meet the accuracy requirements of the weld seam.

[0025] Therefore, the present utility model provides a robot welding vision sensor tooling fixture, as Figure 1As shown in the figure, it includes a hollow connecting arm 2 fixedly connected to the flange end 101 of the sixth axis 1 of the robot. One end of the hollow connecting arm 2 far from the sixth axis 1 of the robot is fixedly connected with a C-shaped chuck 3. One end of the C-shaped chuck 3 far from the hollow connecting arm 2 is fixedly connected with the welding torch section 102 of the sixth axis. A rotating connecting block 4 is rotatably connected to the hollow connecting arm 2. One end of the rotating connecting block 4 far from the hollow connecting arm 2 is slidably connected with a vision sensor 5. An internal fixture is provided inside the vision sensor 5 to fix the internal structure of the vision sensor 5. Specifically, two constraints are imposed on the hollow connecting arm 2 through the flange end 101 and the welding torch section 102 to enhance the clamping effect, which can effectively prevent the calibrated vision sensor 5 from shaking and resulting in the accuracy of position finding and tracking. And the internal fixture fixes the structures inside the vision sensor 5 that are prone to shaking and affect the accuracy, so as to meet the weld accuracy requirements during welding.

[0026] Preferably, the hollow connecting arm 2 includes a base 201. One end of the base 201 is fixedly connected to the flange end 101 of the sixth axis 1 of the robot. One end of the base 201 far from the flange end 101 of the sixth axis 1 of the robot is fixedly connected with a hollow section 202. One end of the hollow section 202 far from the base 201 is fixedly connected with a fixing block 203. The hollow connecting arm 2 is rotatably connected to the rotating connecting block 4 through the fixing block 203, so that the rotating connecting block 4 drives the vision sensor 5 to rotate relative to the hollow connecting arm 2. The hollow connecting arm 2 is fixedly connected to the C-shaped chuck 3 through the fixing block 203, thereby realizing that the vision sensor 5 can rotate around a fixed point and can also translate in a direction perpendicular to the welding torch section 102. The purpose is to make the centers of the welding torch and the CCD camera 6 inside the vision sensor 5 on the same plane, that is, the welding seam and the molten pool image are also most likely located at the center of the field of view of the CCD camera 6, and it can also be adjusted according to the welding working conditions to avoid interference and reach the best visible position at the same time.

[0027] Preferably, the hollow connecting arm 2 is made of aluminum alloy material.

[0028] Preferably, the hollow section 202 is a rectangular frame. It can be understood that the hollow section 202 can be a frame with multiple rectangular openings, or a frame with one or more circular openings, or a frame with one or more triangular openings, etc. As long as the opening shape can ensure the stability of the hollow section 202 and reduce the weight of the hollow section 202, it is acceptable.

[0029] Preferably, as Figure 2 shown in the figure, a first through hole 100 is opened on the fixing block 203, and a second through hole 200 is opened on the C-shaped chuck 3. A first bolt 300 passes through the first through hole 100 and the second through hole 200 in sequence and is screwed with a nut, thereby fixing the fixing block 203 and the C-shaped chuck 3.

[0030] Preferably, the length of the first through hole 100 is greater than the diameter of the first bolt 300, so that the first bolt 300 can move within the first through hole 100 when not tightened, and further, the relative positions of the C-shaped chuck 3 and the hollow connecting arm 2 are adjustable to meet different working conditions.

[0031] Preferably, the visual sensor 5 is provided with a dovetail groove 501, and the visual sensor 5 is slidably connected to the rotary connection block 4 through the dovetail groove 501, so as to ensure the adaptability of the attitude and position between the visual sensor 5 and the welding torch by adjusting the position of the visual sensor 5.

[0032] Preferably, the rotary connection block 4 is made of insulating bakelite, so that the visual sensor 5 is insulated from the welding torch section 102 to avoid current interference.

[0033] The internal fixture includes a CCD camera fixture 502 for clamping the CCD camera 6 and a line laser fixture 503 for clamping the line laser 7.

[0034] Preferably, the CCD camera fixture 502 is provided with a hollow clamping member 5021, the clamping member 5021 is threadedly connected and fixed to the CCD camera 6, and the visual sensor 5 is internally provided with a fixing hole which is cooperatively connected with the clamping member 5021 to fix the clamping member 5021, greatly simplifying the assembly process and being easy to maintain.

[0035] Preferably, the line laser fixture 503 is provided with a semi-circular concave hole 5031, the shape of the semi-circular concave hole 5031 matches the shape of the line laser 7, an external connecting member 5032 is screwed on the semi-circular concave hole 5031, the shape of the external connecting member 5032 matches the shape of the line laser 7, the line laser 7 is located between the semi-circular concave hole 5031 and the external connecting member 5032, and a fastening screw is used to make the semi-circular concave hole 5031 and the external connecting member 5032 squeeze and fix the line laser 7, and the squeezing force between the two can ensure that the line laser 7 does not rotate during the use of the visual sensor 5, and the one-dimensional linear light source remains in the same state without change.

[0036] The utility model solves the technical problem that the accuracy is affected due to shaking or jitter during the robot welding process, meets the requirements of welding environment recognition, welding position searching, weld seam tracking and welding quality monitoring, has a compact and firm structure, a simple and generous appearance, and a high degree of automation.

[0037] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. A robot welding visual sensor fixture, characterized in that: It includes a hollow connecting arm fixedly connected to the flange end of the sixth axis of the robot, the end of the hollow connecting arm away from the sixth axis of the robot is fixedly connected to a C-type clamp, the end of the C-type clamp away from the hollow connecting arm is fixedly connected to the welding gun section of the sixth axis, a rotating connecting block is rotatably connected to the hollow connecting arm, the end of the rotating connecting block away from the hollow connecting arm is slidably connected to the visual sensor, and an internal clamp is provided in the visual sensor to fix the internal structure of the visual sensor.

2. The robot welding visual sensor fixture according to claim 1 is characterized in that: The hollow connecting arm includes a base, one end of the base is fixedly connected to the flange end of the sixth axis of the robot, the end of the base away from the flange end of the sixth axis of the robot is fixedly connected to a hollow section, the end of the hollow section away from the base is fixedly connected to a fixed block, the hollow connecting arm is rotatably connected to the rotating connecting block through the fixed block, and the hollow connecting arm is fixedly connected to the C-type clamp through the fixed block.

3. The robot welding visual sensor fixture according to claim 2 is characterized in that: The hollow section is a rectangular frame.

4. The robot welding visual sensor fixture according to claim 2 or 3, characterized in that: A first through hole is provided on the fixing block, a second through hole is provided on the C-shaped clamp, and a first bolt passes through the first through hole and the second through hole in sequence and is screwed with a nut, thereby fixing the fixing block and the C-shaped clamp.

5. The robot welding visual sensor fixture according to claim 4 is characterized in that: The length of the first through hole is greater than the diameter of the first bolt.

6. The robot welding visual sensor fixture according to claim 1, characterized in that: A dovetail groove is arranged on the visual sensor, and the visual sensor is slidably connected with the rotating connection block through the dovetail groove.

7. The robot welding visual sensor fixture according to claim 1 or 6, characterized in that: The rotating connection block is made of insulating bakelite.

8. The robot welding visual sensor fixture according to claim 1, characterized in that: The internal fixtures include a CCD camera fixture for clamping a CCD camera and a line laser fixture for clamping a line laser.

9. The robot welding visual sensor fixture according to claim 8, characterized in that: The CCD camera fixture is provided with a hollow clamping piece, which is threadedly connected and fixed to the CCD camera. A fixing hole is provided inside the visual sensor, which is matched and connected with the clamping piece to fix the clamping piece.

10. The robot welding visual sensor fixture according to claim 8, characterized in that: The line laser fixture is provided with a semicircular inner concave hole, the shape of which matches that of the line laser, an external component is screwed on the semicircular inner concave hole, the shape of which matches that of the line laser, the line laser is located between the semicircular inner concave hole and the external component, and the screws are tightened so that the semicircular inner concave hole and the external component squeeze and fix the line laser.

Images