Welding path detection device of welding robot

Abstract

The utility model discloses a welding robot welding path detection device which comprises a laser tracking sensor, a manual rotating head is arranged in the middle of the upper end face of the laser tracking sensor, a gear rotating shaft is arranged below the manual rotating head, and a square inserting groove is formed in the middle of the upper end face of the gear rotating shaft. A square inserting rod is inserted into the square inserting groove, and the upper end face of the square inserting rod and the manual rotating head are fixed. The outer surface of the gear rotating shaft is fixedly sleeved with a medium-sized gear, and the four end corners of the outer surface of the medium-sized gear are each engaged with a small-sized gear. When the laser tracking sensor needs to be installed, only the four adsorption fixing heads located on the lower end face of the laser tracking sensor need to be attached to the installation position of the welding robot, then the manual rotating head is rotated, and by means of the technical scheme, operation complexity when the laser tracking sensor is disassembled and assembled is reduced.

Description

Technical Field

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

[0002] A welding robot is an industrial robot that performs welding (including cutting and spraying). According to the International Organization for Standardization (ISO), an industrial robot is a standard welding robot. It is a multi-purpose, reprogrammable, automatically controlled manipulator with three or more programmable axes used in industrial automation. To accommodate different uses, the mechanical interface of the robot's last axis is usually a connecting flange that can be connected to different tools or end effectors. A welding robot is an industrial robot with a welding tongs or welding (cutting) gun attached to its end axis flange, enabling it to perform welding, cutting, or thermal spraying.

[0003] When using a welding robot, various sensors can be used to detect and track welds. For example, a laser tracking sensor works through a CCD camera and one or two semiconductor lasers. The laser projects laser stripes onto the workpiece surface, and the camera observes these stripes to measure the position and contour of the weld. This sensor can adapt to the brightness of the welding arc and filter out other light sources. This laser tracking sensor used to detect the welding path of a welding robot can be called a welding path detection device for a welding robot.

[0004] However, the disassembly and assembly process of the welding path detection device of the laser tracking sensor type welding robot is relatively cumbersome. When the device needs to be installed, not only is it necessary to first punch several bolt fixing holes at the installation position on the welding robot, but also when disassembling and assembling it, the bolts used to fix the laser tracking sensor need to be rotated one by one, and the operation is relatively cumbersome. Therefore, it does not meet the existing needs. In this regard, we propose a welding path detection device for a welding robot. Utility Model Content

[0005] The purpose of the present utility model is to provide a welding path detection device for a welding robot, so as to solve the problems that the disassembly and assembly process of the welding path detection device of the laser tracking sensor type welding robot proposed in the above background technology is relatively cumbersome. When the device needs to be installed, not only is it necessary to first punch several bolt fixing holes at the installation position on the welding robot, but also when disassembling and assembling it, it is necessary to rotate the bolts used to fix the laser tracking sensor one by one, and the operation is relatively cumbersome.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a welding path detection device for a welding robot, comprising a laser tracking sensor, a manual rotating head provided in the middle of the upper end surface of the laser tracking sensor, a gear shaft provided below the manual rotating head, a square slot provided in the middle of the upper end surface of the gear shaft, a square rod inserted into the square slot to secure the upper end surface of the gear shaft to the manual rotating head;

[0007] The outer surface of the gear shaft is fixed with a medium-sized gear, and the four end corners of the outer surface of the medium-sized gear are meshed with a small gear. The axis of the small gear is connected to a threaded rod shaft, and the lower end face of the threaded rod shaft is fixedly connected to a threaded rod. The lower side of the outer surface of the threaded rod is provided with an internal threaded sleeve matching its external thread. One side of the internal threaded sleeve is provided with an adsorption fixing head located at the lower end face of the laser tracking sensor, and a piston groove is provided inside the adsorption fixing head. A piston plate is provided inside the piston groove that fits with its inner wall. A connecting rod is provided in the middle position of the upper end face of the piston plate, and the top end of the connecting rod is fixed between the surface facing the internal threaded sleeve and the internal threaded sleeve.

[0008] Preferably, the cross-section of the inner wall of the square slot is a square, the outer surface of the square insertion rod fits with the inner wall of the square slot, and the square insertion rod is slidably connected to the square slot.

[0009] Preferably, a circle of metal locking head is fixedly provided on the outer side of the lower end surface of the manual rotating head, and a locking groove located inside the laser tracking sensor housing is provided on the outer side of the bottom end of the metal locking head.

[0010] Preferably, a fixed magnet is fixedly provided on the lower side of the locking groove, and the upper end surface of the fixed magnet is in contact with the lower end surface of the metal locking head.

[0011] Preferably, the bottom end of the threaded rod is located inside the laser tracking sensor housing, and the threaded rod inside the laser tracking sensor housing is connected to the laser tracking sensor via a roller bearing.

[0012] Preferably, a square cover plate is provided below the medium-sized gear and is located on the lower end surface of the laser tracking sensor, and the laser tracking sensor and the square cover plate are fixed by screws.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] The utility model works by, when the device needs to be installed, fitting the four adsorption fixing heads located at the lower end surface of the laser tracking sensor to the installation position on the welding robot, and then rotating the manual rotating head to drive the piston plate inside the piston groove at the lower end surface of the adsorption fixing head to move upward, thereby generating an adsorption force to fix the laser tracking sensor to the installation position on the welding robot, and when the fixation is completed, the manual rotating head that drives the piston plate to move up and down can be locked to prevent it from being loosened. The above technical solution reduces the complexity of operations when disassembling and assembling the laser tracking sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a top view of the internal structure of the utility model;

[0017] Figure 3 For this utility model Figure 1 Schematic diagram of the internal structure at A in the middle;

[0018] Figure 4 For this utility model Figure 1 Schematic diagram of the internal structure at B in the middle.

[0019] In the figure: 1. Laser tracking sensor; 2. Medium-sized gear; 3. Gear shaft; 4. Square slot; 5. Manual rotating head; 6. Square plug rod; 7. Metal locking head; 8. Locking slot; 9. Fixed magnet; 10. Small gear; 11. Threaded rod shaft; 12. Internal threaded sleeve; 13. Adsorption fixing head; 14. Piston groove; 15. Piston plate; 16. Connecting rod; 17. Threaded rod. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] The laser tracking sensor 1 (model GJD-01), the medium-sized gear 2 (model 8m) and the fixed magnet 9 (model 10mm) mentioned in the present invention can all be purchased from the market or obtained through private customization.

[0022] See also Figures 1 to 4The utility model provides an embodiment of a welding path detection device for a welding robot, comprising a laser tracking sensor 1, a manual rotating head 5 is provided in the middle of the upper end surface of the laser tracking sensor 1, a gear shaft 3 is provided below the manual rotating head 5, a square slot 4 is provided in the middle of the upper end surface of the gear shaft 3, a square rod 6 is inserted into the square slot 4 to fix the upper end surface of the square slot 4 to the manual rotating head 5;

[0023] The outer surface of the gear shaft 3 is fixedly sleeved with a medium-sized gear 2, and the four end corners of the outer surface of the medium-sized gear 2 are meshed with a small gear 10. The axis of the small gear 10 is connected to a threaded rod shaft 11, and the lower end face of the threaded rod shaft 11 is fixedly connected to a threaded rod 17. The lower side of the outer surface of the threaded rod 17 is sleeved with an internal threaded sleeve 12 matching its external thread. One side of the internal threaded sleeve 12 is provided with an adsorption fixing head 13 located at the lower end face of the laser tracking sensor 1, and the interior of the adsorption fixing head 13 is provided with a piston groove 14, and the interior of the piston groove 14 is provided with a piston plate 15 that fits with its inner wall. A connecting rod 16 is provided in the middle position of the upper end face of the piston plate 15, and the top end of the connecting rod 16 is fixed between the surface facing the internal threaded sleeve 12 and the internal threaded sleeve 12.

[0024] The inner wall cross-section of the square slot 4 is square, the outer surface of the square insertion rod 6 fits with the inner wall of the square slot 4, and the square insertion rod 6 is slidably connected to the square slot 4; a circle of metal locking head 7 is fixed on the outer side of the lower end surface of the manual rotating head 5, and a locking groove 8 located inside the shell of the laser tracking sensor 1 is provided on the outer side of the bottom end of the metal locking head 7; when it is necessary to install this equipment, the four adsorption fixing heads 13 located on the lower end surface of the laser tracking sensor 1 are fitted to the installation position on the welding robot, and then the manual rotating head 5 is pulled upward first. As the manual rotating head 5 moves, the metal locking head 7 fixed thereto will move upward together. Only when the metal locking head 7 fixed to the lower end surface of the manual rotating head 5 completely leaves the inside of the locking groove 8 can the manual rotating head 5 be rotated;

[0025] When the metal locking head 7 is completely out of the locking groove 8, the manual rotating head 5 is manually rotated. As the manual rotating head 5 rotates, the square plug rod 6 fixed thereto will rotate along with it. Since the outer surface of the square plug rod 6 is in contact with the inner wall of the square slot 4 located on the upper end face of the gear shaft 3, when the square plug rod 6 rotates, the gear shaft 3 and the medium-sized gear 2 fixedly sleeved on the outer surface of the gear shaft 3 will rotate along with it. The rotating medium-sized gear 2 can drive the four small gears 10 meshing with it to rotate together, and the rotating small gear 10 can drive the four small gears 10 connected to the small gear 10 to rotate together. The threaded rod shaft 11 at the axis and the threaded rod 17 fixed to the lower end surface of the threaded rod shaft 11 rotate synchronously. When the threaded rod 17 rotates, the internal threaded sleeve 12 sleeved on the outer surface of the threaded rod 17 will move up and down together through the transmission of the threaded structure, thereby moving the internal threaded sleeve 12 upward. As the internal threaded sleeve 12 rises, the connecting rod 16 fixed thereto and the piston plate 15 fixed to the lower end surface of the connecting rod 16 will move upward synchronously. As the piston plate 15 rises, an adsorption force will be generated to fix the laser tracking sensor 1 to the installation position on the welding robot.

[0026] When the laser tracking sensor 1 is fixed, slightly adjust the angle of the manual rotating head 5, align the metal locking head 7 fixed on the lower end surface of the manual rotating head 5 with the locking groove 8, and then insert the metal locking head 7 into the locking groove 8 to lock the manual rotating head 5 to prevent it from rotating. When the manual rotating head 5 is locked, the fixation of the laser tracking sensor 1 can be prevented from loosening due to the unauthorized rotation of the manual rotating head 5. When the laser tracking sensor 1 needs to be released, pull the manual rotating head 5 upwards and then rotate the manual rotating head 5 in the opposite direction. The above technical solution reduces the complexity of the operation when disassembling and assembling the laser tracking sensor 1, and prevents the fixation of the laser tracking sensor 1 from loosening due to external interference.

[0027] A fixed magnet 9 is fixed on the lower side of the locking groove 8, and the upper end surface of the fixed magnet 9 fits into the lower end surface of the metal locking head 7; the fixed magnet 9 can adsorb the metal locking head 7 to prevent it from leaving the locking groove 8 without authorization.

[0028] The bottom end of the threaded rod 17 is located inside the housing of the laser tracking sensor 1, and the threaded rod 17 located inside the housing of the laser tracking sensor 1 is connected to the laser tracking sensor 1 through a roller bearing; the roller bearing structure between the laser tracking sensor 1 and the threaded rod 17 can support the threaded rod 17, thereby ensuring its stability.

[0029] A square cover is provided below the medium gear 2 and is located on the lower end face of the laser tracking sensor 1, and the laser tracking sensor 1 and the square cover are fixed to each other by screws; the square cover can protect the internal structure of the laser tracking sensor 1, and when the internal structure of the laser tracking sensor 1 fails, the square cover can be removed to repair its internal structure.

[0030] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A welding path detection device for a welding robot, comprising a laser tracking sensor (1), characterized in that: A manual rotating head (5) is provided in the middle of the upper end surface of the laser tracking sensor (1), a gear shaft (3) is provided below the manual rotating head (5), a square slot (4) is provided in the middle of the upper end surface of the gear shaft (3), and a square rod (6) is inserted into the square slot (4) to fix the upper end surface of the gear shaft (3) and the manual rotating head (5); The outer surface of the gear shaft (3) is fixedly sleeved with a medium-sized gear (2), and the four end corners of the outer surface of the medium-sized gear (2) are meshed with a small gear (10), the axis of the small gear (10) is connected to a threaded rod shaft (11), the lower end surface of the threaded rod shaft (11) is fixedly connected to a threaded rod (17), the lower side of the outer surface of the threaded rod (17) is sleeved with an internal thread sleeve (12) matching its external thread, one side of the internal thread sleeve (12) is provided with an adsorption fixing head (13) located at the lower end surface of the laser tracking sensor (1), the interior of the adsorption fixing head (13) is provided with a piston groove (14), the interior of the piston groove (14) is provided with a piston plate (15) fitted with its inner wall, a connecting rod (16) is provided at the middle position of the upper end surface of the piston plate (15), and the top end of the connecting rod (16) is fixed between the surface facing the internal thread sleeve (12) and the internal thread sleeve (12).

2. The welding path detection device of a welding robot according to claim 1, characterized in that: The inner wall cross-section of the square slot (4) is a square, the outer surface of the square insertion rod (6) fits the inner wall of the square slot (4), and the square insertion rod (6) and the square slot (4) are slidably connected.

3. The welding path detection device for a welding robot according to claim 1, characterized in that: A circle of metal locking heads (7) is fixedly provided on the outer side of the lower end surface of the manual rotating head (5), and a locking groove (8) located inside the housing of the laser tracking sensor (1) is provided on the outer side of the bottom end of the metal locking head (7).

4. The welding path detection device for a welding robot according to claim 3, characterized in that: A fixed magnet (9) is fixedly provided on the lower side of the locking groove (8), and the upper end surface of the fixed magnet (9) and the lower end surface of the metal locking head (7) are in contact with each other.

5. The welding path detection device for a welding robot according to claim 1, characterized in that: The bottom end of the threaded rod (17) is located inside the housing of the laser tracking sensor (1), and the threaded rod (17) located inside the housing of the laser tracking sensor (1) and the laser tracking sensor (1) are connected via a roller bearing.

6. The welding path detection device for a welding robot according to claim 1, characterized in that: A square cover plate is provided below the medium-sized gear (2) and is located on the lower end surface of the laser tracking sensor (1), and the laser tracking sensor (1) and the square cover plate are fixed by screws.

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