Manipulator clamp of automatic welding equipment

Abstract

The utility model belongs to the technical field of welding fixtures, and particularly relates to a manipulator fixture of automatic welding equipment, which comprises a machining table, transverse sliding chutes are symmetrically formed in two sides of the top of the machining table, and an n-shaped bracket is movably arranged on the two sliding chutes through a first driving mechanism; the mounting port is formed in the top of the support and is perpendicular to the sliding groove in the forming direction. The gripper can be driven to move in the left-right direction through the first driving mechanism; the second driving mechanism can drive the gripper to move in the front-back direction. The height of the gripper can be adjusted through the electric telescopic rod, so that the distance between the gripper and a workpiece is adjusted, the angle change of the gripper and the rotating rod is controlled through the electric push rod, the workpiece is grabbed or released, the rotating rod and the workpiece can be driven to rotate integrally through the third driving mechanism, and the placing direction of the workpiece can be adjusted. Through the above mode, the grabbed workpiece can be adjusted in multiple positions and directions, and a user is prevented from making contact with the overheated workpiece.

Description

Technical Field

[0001] The utility model relates to the technical field of welding fixtures, and specifically relates to a manipulator fixture for an automatic welding device. Background Technique

[0002] When a welding device welds a workpiece, it often needs to adjust the positions and orientations of different parts of the workpiece. When a part of the workpiece is welded, its temperature is often too high. If the user directly adjusts the placement position and angle of the workpiece, it is very inconvenient. Therefore, a manipulator fixture for an automatic welding device needs to be developed. Content of the Utility Model

[0003] The purpose of this part is to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and title of the specification of this application, to avoid obscuring the purpose of this part, the abstract of the specification, and the title of the utility model. However, such simplifications or omissions shall not be used to limit the scope of the utility model.

[0004] To solve the above technical problems, according to one aspect of the utility model, the following technical solutions are provided:

[0005] A manipulator fixture for an automatic welding device, which includes:

[0006] A processing table, on both sides of the top of the processing table, horizontal sliding grooves are symmetrically opened. A "冂"-shaped bracket is movably arranged on the two sliding grooves through a first driving mechanism;

[0007] An installation port, which is opened on the top of the bracket and the opening direction is perpendicular to the sliding groove. A "T"-shaped slider is movably arranged on the installation port through a second driving mechanism. The top of the slider is fixedly provided with an electric telescopic rod, and the output shaft of the electric telescopic rod slidably penetrates the bottom wall of the slider;

[0008] An installation frame, which is fixedly arranged at the bottom end of the output shaft of the electric telescopic rod and is in the shape of a "回". A vertical rotating rod is rotatably penetrated through the bottom of the inner side wall of the installation frame through a third driving mechanism. The lower end of the rotating rod is hinged with grippers in an equidistant circumferential manner around its own central axis. The outer side wall of each gripper is hinged with an electric push rod, and the other end of the electric push rod is hinged on the rod body of the rotating rod.

[0009] As a preferred scheme of the manipulator fixture for an automatic welding device of the utility model, among them: The first driving mechanism includes a horizontal first ball screw rod rotatably arranged on the inner side wall of one sliding groove through a bearing seat, and a first guide rod parallel to the first ball screw rod fixedly arranged on the inner wall of the other sliding groove;

[0010] The nut on the first ball screw passes through the side wall of the bracket, and the rod body of the first guide rod rotates through the side wall of the bracket via a linear bearing;

[0011] A first servo motor for driving the first ball screw to rotate is fixedly installed on the side wall of the processing table.

[0012] As a preferred embodiment of the robotic gripper of the automated welding equipment described in this utility model, the second driving mechanism includes a second ball screw rotatably mounted on the inner wall of the mounting port via a bearing seat, and a second guide rod parallel to the second ball screw fixedly mounted on the inner wall of the mounting port.

[0013] The nut on the second ball screw passes through the side wall of the slider, and the rod body of the second guide rod rotates through the side wall of the slider via a linear bearing;

[0014] A second servo motor for driving the second ball screw to rotate is fixedly installed on the side wall of the bracket.

[0015] In a preferred embodiment of the robotic gripper of the automated welding equipment described in this utility model, a row of support wheels is provided on both sides of the bottom of the slider above the bracket, and the rollers of the support wheels roll on the top of the bracket.

[0016] As a preferred embodiment of the robotic gripper of the automated welding equipment described in this utility model, the rod body of the rotating rod rotates through the bottom wall of the mounting frame via a bearing sleeve, and a fixing plate is fixedly installed on the inner side of the mounting frame where the rod body of the rotating rod is located, and the lower surface of the fixing plate slides smoothly against the bottom wall of the mounting frame.

[0017] As a preferred embodiment of the robotic gripper of the automated welding equipment described in this utility model, the third driving mechanism includes a worm gear fixedly mounted on the upper end of the rotating rod, and a worm gear meshing with the worm gear is rotatably mounted on the inner side of the mounting frame through a bearing seat;

[0018] A third servo motor for driving the worm gear rotation is fixedly installed on the side wall of the mounting frame, and a counterweight is fixedly installed on the side of the side wall of the mounting frame away from the third servo motor.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows: the first driving mechanism can drive the gripper to move left and right; the second driving mechanism can drive the gripper to move forward and backward; the electric telescopic rod can adjust the height of the gripper, thereby adjusting its distance from the workpiece; the electric push rod controls the angle change between the gripper and the rotating rod, thereby realizing the gripping or releasing of the workpiece; and the third driving mechanism can drive the rotating rod and the workpiece to rotate as a whole, thereby adjusting the orientation of the workpiece. Through the above, the gripped workpiece can be adjusted in multiple positions and orientations, avoiding contact between the user and the overheated workpiece. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the internal components of the slide and mounting port cross-section of this utility model;

[0023] Figure 3 This is a schematic diagram of the mounting frame and its mounting components of this utility model;

[0024] Figure 4 This utility model Figure 3 A structural diagram in the rear view direction;

[0025] Figure 5 This is a schematic diagram of the structure of the rotating rod and its mounting components of this utility model.

[0026] In the diagram: machining table 100, slide 101, bracket 102, first ball screw 103, first guide rod 104, first servo motor 105, mounting port 200, slider 201, electric telescopic rod 202, second ball screw 203, second guide rod 204, second servo motor 205, support wheel 206, mounting frame 300, rotating rod 301, gripper 302, electric push rod 303, bearing sleeve 304, fixing plate 305, worm gear 306, worm 307, third servo motor 308, counterweight 309. Detailed Implementation

[0027] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0028] In the following description, many specific details are set forth in order to provide a thorough understanding of the present utility model. However, the present utility model may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0029] Secondly, the present utility model will be described in detail with reference to the schematic diagrams. When detailing the embodiments of the present utility model, for the sake of convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally in a non-general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present utility model herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0030] To make the purpose, technical solutions, and advantages of the present utility model clearer, the embodiments of the present utility model will be further described in detail below with reference to the accompanying drawings.

[0031] Please refer to Figures 1-5 , which shows a schematic structural diagram of an embodiment of the manipulator fixture of an automatic welding device of the present utility model. Please refer to Figures 1-5 , and a detailed introduction to the manipulator fixture of an automatic welding device will be given.

[0032] A manipulator fixture of an automatic welding device includes a processing table 100. On both sides of the top of the processing table 100, horizontal chutes 101 are symmetrically opened. A "冂"-shaped bracket 102 is movably arranged on the two chutes 101 through a first driving mechanism;

[0033] Among them: the first driving mechanism includes a horizontal first ball screw 103 rotatably arranged on the inner side wall of one chute 101 through a bearing seat, and a first guide rod 104 parallel to the first ball screw 103 fixedly arranged on the inner wall of the other chute 101;

[0034] The nut on the first ball screw 103 penetrates through the side wall of the bracket 102, and the rod body of the first guide rod 104 rotatably penetrates through the side wall of the bracket 102 through a linear bearing;

[0035] A first servo motor 105 for driving the first ball screw 103 to rotate is fixedly arranged on the side wall of the processing table 100;

[0036] By driving the first ball screw 103 to rotate through the first servo motor 105, the bracket 102 is displaced along the direction of the chute 101, that is, the gripper 302 can be moved in the left and right directions;

[0037] The installation port 200 is opened at the top of the bracket 102 and the opening direction is perpendicular to the sliding groove 101. A "T"-shaped slider 201 is movably arranged on the installation port 200 through a second driving mechanism. A telescopic electric rod 202 is fixedly arranged on the top of the slider 201, and the output shaft of the telescopic electric rod 202 slidably penetrates through the bottom wall of the slider 201;

[0038] Among them: The second driving mechanism includes a second ball screw 203 rotatably arranged on the inner side wall of the installation port 200 through a bearing seat, and a second guide rod 204 fixedly arranged on the inner side wall of the installation port 200 and parallel to the second ball screw 203; The second ball screw 203 and the second guide rod 204 are both arranged at an interval from the output shaft of the telescopic electric rod 202;

[0039] The nut on the second ball screw 203 penetrates through the side wall of the slider 201, and the rod body of the second guide rod 204 rotatably penetrates through the side wall of the slider 201 through a linear bearing;

[0040] A second servo motor 205 for driving the second ball screw 203 to rotate is fixedly arranged on the side wall of the bracket 102;

[0041] By driving the second ball screw 203 to rotate through the second servo motor 205, the slider 201 moves along the direction of the installation port 200, that is, the gripper 302 can be driven to move in the front and back directions.

[0042] Among them: A row of support wheels 206 are arranged on both sides of the bottom of the slider 201 above the bracket 102. The rollers of the support wheels 206 roll on the top of the bracket 102. By arranging the support wheels 206, the slider 201 can be supported. And when the slider 201 moves in the front and back directions, the rollers of the support wheels 206 also roll along the top of the installation port 200;

[0043] The installation frame 300 is fixedly arranged at the bottom end of the output shaft of the telescopic electric rod 202 and is in the shape of a "hui" character. A vertical rotating rod 301 is rotatably penetrated through the bottom of the inner side wall of the installation frame 300 through a third driving mechanism. The lower end of the rotating rod 301 is hinged with grippers 302 in an equidistant circumferential manner centered on its own central axis. An electric push rod 303 is hinged on the outer side wall of each gripper 302, and the other end of the electric push rod 303 is hinged on the rod body of the rotating rod 301;

[0044] Three telescopic electric rods 202 are connected in series in the same control circuit, so as to realize the simultaneous control of the three telescopic electric rods 202. And through the telescopic electric rod 202, the height of the gripper 302 can be adjusted, so as to adjust the distance from the workpiece. And by controlling the angle change between the gripper 302 and the rotating rod 301 through the electric push rod 303, the workpiece can be grabbed or released.

[0045] Wherein: the rod body of the rotating rod 301 rotates through the bottom wall of the mounting frame 300 via the bearing sleeve 304, and a fixing plate 305 is fixedly installed on the inner side of the mounting frame 300 where the rod body of the rotating rod 301 is located. The lower surface of the fixing plate 305 slides smoothly against the inner bottom wall of the mounting frame 300. The fixing plate 305 plays a role in stabilizing the rotating rod 301 and ensuring that the upper end of the rotating rod 301 always rotates to be located inside the mounting frame 300. The bearing sleeve 304 reduces the friction when the rotating rod 301 rotates.

[0046] Wherein: the third driving mechanism includes a worm gear 306 fixedly installed on the upper end of the rotating rod 301, and a worm 307 meshing with the worm gear 306 is rotatably installed on the inner side of the mounting frame 300 through a bearing seat;

[0047] A third servo motor 308 for driving the worm gear 307 to rotate is fixedly installed on the side wall of the mounting frame 300. A counterweight 309 is fixedly installed on the side of the mounting frame 300 away from the third servo motor 308. The counterweight 309 helps to keep the center of gravity of the entire mounting frame 300 at the rotating rod 301, thereby preventing the mounting frame 300 from becoming too heavy on one side due to the installation of the third servo motor 308.

[0048] In practical use, the first servo motor 105 drives the first ball screw 103 to rotate, causing the bracket 102 to move left and right along the slide groove 101, which in turn moves the gripper 302 left and right. The second servo motor 205 drives the second ball screw 203 to rotate, causing the slider 201 to move back and forth along the mounting opening 200, which in turn moves the gripper 302 back and forth. The height of the gripper 302 can be adjusted by the electric telescopic rod 202, thereby adjusting its distance from the workpiece. The gripper is controlled by the electric push rod 303. The angle between the hand 302 and the rotating rod 301 changes, thereby gripping or releasing the workpiece. The third servo motor 308 drives the worm gear 307 and worm wheel 306 to rotate, which in turn drives the rotating rod 301 and the workpiece to rotate as a whole. This allows adjustment of the workpiece's orientation. In addition, the worm wheel 306 and worm gear 307 have a self-locking function, meaning that the worm wheel 306 cannot drive the worm gear 307 to rotate, so that the rotating rod 301 is relatively locked when adjusting the workpiece's position. Through the above, the gripped workpiece can be adjusted in multiple positions and orientations, avoiding contact between the user and the overheated workpiece.

[0049] It should be noted that the workpiece is placed on the processing table 100, and then the existing welding equipment is used to perform the welding process on one side of the workpiece. When it is necessary to adjust the position and angle of the workpiece, the position of the gripper 302 is adjusted by the first and second drive mechanisms 102. After the workpiece is clamped, the position of the workpiece is adjusted.

[0050] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in this invention can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robotic gripper for an automated welding equipment, characterized in that, Including: A processing table (100), on both sides of the top of the processing table (100), horizontal sliding grooves (101) are symmetrically provided. A "冂”-shaped bracket (102) is movably arranged on the two sliding grooves (101) through a first driving mechanism; An installation opening (200) is opened at the top of the bracket (102) and the opening direction is perpendicular to the sliding groove (101). A "T”-shaped slider (201) is movably arranged on the installation opening (200) through a second driving mechanism. An electric telescopic rod (202) is fixedly arranged on the top of the slider (201), and the output shaft of the electric telescopic rod (202) slidably penetrates through the bottom wall of the slider (201); An installation frame (300) is fixedly arranged at the bottom end of the output shaft of the electric telescopic rod (202) and is in the shape of a "回”. A vertical rotating rod (301) is rotatably penetrated through the bottom inner wall of the installation frame (300) through a third driving mechanism. At the lower end of the rotating rod (301), a gripper (302) is articulated in an equidistant circumferential manner around its own central axis. An electric push rod (303) is articulated on the outer side wall of each gripper (302), and the other end of the electric push rod (303) is articulated on the rod body of the rotating rod (301).

2. The robotic gripper for an automated welding equipment according to claim 1, characterized in that: The first driving mechanism includes a horizontal first ball screw (103) rotatably arranged on the inner side wall of one sliding groove (101) through a bearing seat, and a first guide rod (104) fixedly arranged on the inner wall of the other sliding groove (101) and parallel to the first ball screw (103); The nut on the first ball screw (103) penetrates through the side wall of the bracket (102), and the rod body of the first guide rod (104) rotatably penetrates through the side wall of the bracket (102) through a linear bearing; A first servo motor (105) for driving the first ball screw (103) to rotate is fixedly arranged on the side wall of the processing table (100).

3. The robotic gripper for an automated welding equipment according to claim 1, characterized in that: The second driving mechanism includes a second ball screw (203) rotatably arranged on the inner side wall of the installation opening (200) through a bearing seat, and a second guide rod (204) fixedly arranged on the inner side wall of the installation opening (200) and parallel to the second ball screw (203); The nut on the second ball screw (203) penetrates through the side wall of the slider (201), and the rod body of the second guide rod (204) rotatably penetrates through the side wall of the slider (201) through a linear bearing; A second servo motor (205) for driving the second ball screw (203) to rotate is fixedly arranged on the side wall of the bracket (102).

4. The robotic gripper for an automated welding equipment according to claim 1, characterized in that: On both sides of the bottom of the slider (201) and above the bracket (102), a row of support wheels (206) are arranged, and the rollers of the support wheels (206) roll on the top of the bracket (102).

5. The robotic gripper for an automated welding equipment according to claim 1, characterized in that: The rod body of the rotating rod (301) rotatably penetrates through the bottom wall of the installation frame (300) through a bearing sleeve (304), and a fixing plate (305) is fixedly arranged on the rod body of the rotating rod (301) inside the installation frame (300). The lower surface of the fixing plate (305) smoothly slides and fits on the inner bottom wall of the installation frame (300).

6. The robotic gripper for an automated welding equipment according to claim 1, characterized in that: The third drive mechanism includes a worm gear (306) fixedly mounted on the upper end of the rotating rod (301), and a worm (307) meshing with the worm gear (306) is rotatably mounted on the inner side of the mounting frame (300) through a bearing seat. A third servo motor (308) for driving the worm gear (307) to rotate is fixedly installed on the side wall of the mounting frame (300), and a counterweight (309) is fixedly installed on the side of the side wall of the mounting frame (300) away from the third servo motor (308).

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