Mounting structure of TCP automatic calibration mechanism

Abstract

The utility model relates to the technical field of welding, and discloses a mounting structure of a TCP automatic calibration mechanism, which comprises a welding workbench and a welding gun, a welding plate is fixedly mounted at the top of the welding workbench, a support block is arranged at the other end, far away from the welding workbench, of the welding plate, an extension plate is fixedly mounted on the outer surface of the support block, and the extension plate is fixedly mounted on the top of the welding workbench. An inserting groove is formed in the outer surface of the extending plate, an inserting block is arranged at the other end, away from the welding plate, of the extending plate, and a calibration block is fixedly installed at the other end, away from the welding plate, of the inserting block. According to the mounting structure of the TCP automatic calibration mechanism, the positioning bolt enhances the connection between the extension plate and the welding plate, the stability of the calibration block is ensured by the slot, the insertion block and the fixing bolt, and the calibration seat and the calibration block are fixed by the mounting bolt, so that the displacement, falling and shaking of each part in the welding and calibration process are prevented, and a stable foundation is provided for calibration; the inverted-T-shaped insertion structure facilitates installation and detachment of the calibration block and the extension plate, facilitates equipment maintenance and part replacement, improves universality and is high in practicability.

Description

Technical Field

[0001] This utility model relates to the field of welding technology, specifically to an installation structure for a TCP automatic calibration mechanism. Background Technology

[0002] With the continuous improvement of industrial automation, industrial robots are often used for automatic welding. Under computer control, they can achieve continuous trajectory control and point-to-point control. They can also use linear interpolation and circular interpolation functions to weld spatial welds composed of straight lines and arcs. Due to the high precision requirements of the operation, in order to avoid collisions caused by improper manual loading, improper opening or clamping of fixtures, incorrect loading of parts, teaching errors, etc., which would lead to welding torch deformation, inaccurate TCP points, and deviation of weld trajectory, it is necessary to calibrate them.

[0003] Chinese Utility Model Patent Publication No. CN 207840376 U discloses a robotic welding torch TCP calibration device. This device uses a target disk instead of a traditional needle-type TCP calibration target, allowing the welding torch to be calibrated quickly and purposefully by converting the color of the target ring it is on into a position offset vector. The device also provides a three-dimensional hemispherical target with various target rings to obtain the current welding torch's vertical and horizontal positional deviation in a three-dimensional space, achieving rapid and targeted calibration and significantly improving TCP calibration efficiency. However, this robotic welding torch TCP calibration device is not easy to install quickly, resulting in poor versatility and hindering its widespread adoption and practicality. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to provide an installation structure for a TCP automatic calibration mechanism, which can effectively solve the problems in the prior art.

[0005] The technical solution adopted by this utility model is: an installation structure for a TCP automatic calibration mechanism, including a welding workbench and a welding torch. A welding plate is fixedly installed on the top of the welding workbench. A support block is provided at the other end of the welding plate away from the welding workbench. An extension plate is fixedly installed on the outer surface of the support block. A slot is opened on the outer surface of the extension plate. An insertion block is provided at the other end of the extension plate away from the welding plate. A calibration block is fixedly installed at the other end of the insertion block away from the welding plate. A fixing bolt is provided on the outer surface of the calibration block. A fixing hole and a second mounting groove are opened through the outer surface of the calibration block. A calibration seat is provided at the end of the calibration block away from the insertion block.

[0006] Preferably, a positioning bolt is provided through the other end of the extension plate away from the welding plate, and the positioning bolt passes through the extension plate and extends to the inner surface of the welding plate.

[0007] The above technical solution allows the positioning bolt to penetrate the extension plate and extend to the inner surface of the welding plate, which can effectively enhance the stability of the connection between the extension plate and the welding plate, prevent the extension plate from shifting during welding and calibration, and facilitate its quick installation, thus improving its versatility.

[0008] Preferably, the slot and the plug have a "convex" shaped cross-section, and the slot and the plug are installed by plugging in.

[0009] Through the above technical solution, the slot and plug have a "convex" shaped cross section and are plug-in installed. This special structural design allows the plug to be tightly inserted into the slot, which not only facilitates the installation and disassembly of the calibration block and extension plate, and makes it easier to maintain the equipment and replace parts, but also ensures that the calibration block will not easily fall off the extension plate during operation.

[0010] Preferably, the calibration block has an "L" shaped cross-section, and the fixing bolt passes through the calibration block and the insertion block and extends to the inner surface of the support block.

[0011] Through the above technical solution, the calibration block has an "L" shaped cross-section. The fixing bolt passes through the calibration block and the insert block and extends to the inner surface of the support block, so that the calibration block can be stably installed on the support block. The "L" shaped structure is conducive to the cooperation between the calibration block and other components such as the calibration seat to realize the function of 3TCP point calibration of the welding gun. The fixing bolt further enhances the connection and prevents the calibration block from shaking during operation, which would affect the calibration accuracy.

[0012] Preferably, the calibration holder has a mounting slot one at one end near the calibration block, and the mounting slot one is adapted to the mounting slot two.

[0013] The above technical solution, through the design of the mounting slot, facilitates precise docking between the calibration holder and the calibration block, enabling the calibration holder to be accurately installed on the calibration block. This provides a structural basis for subsequent calibration of the welding torch's 3TCP points via the calibration holder, ensuring the smooth progress of the calibration work.

[0014] Preferably, the inner surface of the second mounting groove is threaded with a mounting bolt, which penetrates the second mounting groove and extends to the inner surface of the first mounting groove.

[0015] Through the above technical solution, a mounting bolt is threaded onto the inner surface of the second mounting slot. The mounting bolt penetrates the second mounting slot and extends to the inner surface of the first mounting slot. The mounting bolt further secures the connection between the calibration seat and the calibration block, preventing loosening between the calibration seat and the calibration block during equipment operation. This ensures that the calibration seat remains stable during calibration, thereby improving the accuracy and reliability of TCP point calibration.

[0016] Preferably, the welding torch is located directly above the calibration seat, a limiting block is fixedly installed on the top of the welding workbench, the limiting block is adapted to the welding plate, and the welding torch is set with a maximum offset of 2mm.

[0017] Through the above technical solution, when the positive terminal of the welding gun with weak current touches the negative terminal of the calibration block power supply to form a circuit, the current robot position is recorded and compared with the initial TCP value. The difference is calculated and automatically compensated to make the current TCP point consistent with the original state, thereby keeping the robot path unchanged. The reason for setting the maximum offset is to prevent the welding gun from deforming too much, which may interfere with or collide with the tooling in a narrow space, or the wire cutter may be abnormally bent too much, or the welding wire may not be in a natural extension state, which may cause the TCP point offset distortion. When the offset exceeds the set amount, an alarm needs to be triggered and the work should be stopped. Production can only resume after the operator confirms or a new welding gun is replaced and it is confirmed that there is no change in the TCP point.

[0018] Compared with the prior art, this utility model provides an installation structure for a TCP automatic calibration mechanism.

[0019] It has the following beneficial effects:

[0020] 1. The installation structure of this TCP automatic calibration mechanism features a positioning bolt, an extension plate, and a welding plate. The slot, plug, and fixing bolt ensure the stability of the calibration block. The mounting bolt secures the calibration seat and calibration block, preventing displacement, detachment, or shaking of components during welding and calibration, thus providing a stable foundation for calibration. The U-shaped plug structure facilitates the installation and disassembly of the calibration block and extension plate, which is beneficial for equipment maintenance and component replacement, improving versatility and practicality.

[0021] 2. The installation structure of this TCP automatic calibration mechanism, the "L"-shaped structure of the calibration block and the calibration seat, the precise docking of the mounting slot, as well as the automatic compensation mechanism and offset control, ensure accurate and reliable TCP point calibration, improve welding quality, set the maximum offset to prevent TCP point distortion caused by abnormalities such as welding torch deformation, avoid collision with tooling, and ensure equipment and production safety. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0024] Figure 3 This is a three-dimensional structural diagram of the welding torch and support block of this utility model;

[0025] Figure 4 This is a schematic diagram of the disassembled structure of the slot and plug of this utility model;

[0026] Figure 5 This is a schematic diagram of the installation structure of the calibration block and mounting slot 2 of this utility model;

[0027] Figure 6 This is a schematic diagram of the exploded structure of this utility model.

[0028] The components are: 1. Welding workbench; 2. Welding plate; 3. Welding torch; 4. Limiting block; 5. Support block; 6. Extension plate; 7. Positioning bolt; 8. Slot; 9. Insert block; 10. Calibration block; 11. Fixing bolt; 12. Fixing hole; 13. Calibration seat; 14. Mounting slot one; 15. Mounting slot two; 16. Mounting bolt. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0030] Example 1: As Figure 1-6 As shown, the installation structure of the TCP automatic calibration mechanism provided by this utility model includes a welding workbench 1 and a welding torch 3. A welding plate 2 is fixedly installed on the top of the welding workbench 1. A support block 5 is provided at the other end of the welding plate 2 away from the welding workbench 1. An extension plate 6 is fixedly installed on the outer surface of the support block 5. A slot 8 is opened on the outer surface of the extension plate 6. An insertion block 9 is provided at the other end of the extension plate 6 away from the welding plate 2. A calibration block 10 is fixedly installed at the other end of the insertion block 9 away from the welding plate 2. A fixing bolt 11 is provided on the outer surface of the calibration block 10. A fixing hole 12 and a mounting groove 15 are opened through the outer surface of the calibration block 10. A calibration seat 13 is provided at the end of the calibration block 10 away from the insertion block 9.

[0031] Specifically, a positioning bolt 7 is provided through the other end of the extension plate 6 away from the welding plate 2. The positioning bolt 7 passes through the extension plate 6 and extends to the inner surface of the welding plate 2. The advantage is that the positioning bolt 7 passing through the extension plate 6 and extending to the inner surface of the welding plate 2 can effectively enhance the stability of the connection between the extension plate 6 and the welding plate 2, prevent the extension plate 6 from shifting during welding and calibration, and also facilitate its quick installation and improve its versatility.

[0032] Specifically, the slot 8 and the plug 9 have a "convex" shaped cross-section and are plugged in. The advantage is that the "convex" shaped cross-section and plug-in installation of the slot 8 and the plug 9 allow the plug 9 to be tightly inserted into the slot 8. This not only facilitates the installation and disassembly of the calibration block 10 and the extension plate 6, making it easier to maintain the equipment and replace parts, but also ensures that the calibration block 10 will not easily fall off the extension plate 6 during operation.

[0033] Specifically, the calibration block 10 has an "L"-shaped cross-section, and the fixing bolt 11 passes through the calibration block 10 and the insert block 9 and extends to the inner surface of the support block 5. The advantage is that the calibration block 10 has an "L"-shaped cross-section, and the fixing bolt 11 passes through the calibration block 10 and the insert block 9 and extends to the inner surface of the support block 5, so that the calibration block 10 can be stably installed on the support block 5. The "L"-shaped structure is conducive to the cooperation between the calibration block 10 and the calibration seat 13 and other components to realize the function of calibrating the 3TCP point of the welding gun. The fixing bolt 11 further enhances the firmness of the connection and prevents the calibration block 10 from shaking during operation, which would affect the calibration accuracy.

[0034] Example 2: Figure 2-6 As shown, this is an improvement on the previous embodiment.

[0035] Specifically, the calibration base 13 has a mounting slot 14 at one end near the calibration block 10. The mounting slot 14 is compatible with the mounting slot 2 15. The advantage is that the design of the mounting slot makes it easy for the calibration base 13 and the calibration block 10 to be accurately connected, so that the calibration base 13 can be accurately installed on the calibration block 10. This provides a structural basis for subsequent calibration of the welding torch 3TCP point through the calibration base 13, ensuring that the calibration work can be carried out smoothly.

[0036] Specifically, a mounting bolt 16 is threaded onto the inner surface of mounting slot two 15, extending through mounting slot two 15 and reaching the inner surface of mounting slot one 14. The advantage is that the mounting bolt 16 further secures the connection between the calibration seat 13 and the calibration block 10, preventing loosening between them during equipment operation and ensuring the calibration seat 13 remains stable during calibration, thereby improving the accuracy and reliability of TCP point calibration.

[0037] Specifically, the welding torch 3 is located directly above the calibration base 13. A limiting block 4 is fixedly installed on the top of the welding workbench 1. The limiting block 4 is adapted to the welding plate 2. The welding torch 3 is set with a maximum offset of 2mm. The advantage is that when the positive terminal of the welding torch with weak current touches the negative terminal of the power supply of the calibration block 10 to form a circuit, the current robot position is recorded and compared with the initial TCP value. The difference is calculated and automatically compensated so that the current TCP point is consistent with the original state, thereby keeping the robot path unchanged. The reason for setting the maximum offset is to prevent the welding torch 3 from deforming too much, which may interfere with or collide with the tooling in the narrow space, or the wire may bend abnormally too much, or the welding wire may not be in a natural extension state, resulting in TCP point offset distortion. When the offset exceeds the set amount, an alarm needs to be triggered and work should be stopped. Production can only resume after the operator confirms or a new welding torch 3 is replaced and it is confirmed that the TCP point has not changed.

[0038] Working principle: During use, welding plate 2 is fixed on welding workbench 1. Welding plate 2 is connected to extension plate 6 through support block 5. Extension plate 6 is firmly connected to welding plate 2 through positioning bolt 7 to prevent displacement. The slot 8 of extension plate 6 and the plug 9 are inserted in a "U" shape. Calibration block 10 is fixed and installed on support block 5 through fixing bolt 11. Calibration seat 13 is connected to mounting slot 15 of calibration block 10 through the matching mounting slot 14 and fixed by mounting bolt 16, thus building a stable structural frame. When the positive terminal of welding torch 3 with weak current touches the negative terminal of calibration block 10 to form a circuit, the system records the current robot position, compares it with the initial TCP value, calculates the difference and automatically compensates, so that the TCP point is restored to the original state and the robot path is maintained. At the same time, the maximum offset of welding torch 3 is set to 2mm. When the limit is exceeded, an alarm is sounded and work stops. Production resumes after the operator handles and confirms.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An installation structure for a TCP automatic calibration mechanism, comprising a welding worktable (1) and a welding torch (3), characterized in that: A welding plate (2) is fixedly installed on the top of the welding workbench (1). A support block (5) is provided at the other end of the welding plate (2) away from the welding workbench (1). An extension plate (6) is fixedly installed on the outer surface of the support block (5). A slot (8) is provided on the outer surface of the extension plate (6). An insert block (9) is provided at the other end of the extension plate (6) away from the welding plate (2). A calibration block (10) is fixedly installed at the other end of the insert block (9) away from the welding plate (2). A fixing bolt (11) is provided on the outer surface of the calibration block (10). A fixing hole (12) and a second mounting groove (15) are provided through the outer surface of the calibration block (10). A calibration seat (13) is provided at the end of the calibration block (10) away from the insert block (9).

2. The installation structure of the TCP automatic calibration mechanism according to claim 1, characterized in that: A positioning bolt (7) is provided through the other end of the extension plate (6) away from the welding plate (2). The positioning bolt (7) passes through the extension plate (6) and extends to the inner surface of the welding plate (2).

3. The installation structure of the TCP automatic calibration mechanism according to claim 1, characterized in that: The slot (8) and the plug (9) have a "convex" shaped cross section, and the slot (8) and the plug (9) are plug-in installed.

4. The installation structure of the TCP automatic calibration mechanism according to claim 1, characterized in that: The calibration block (10) has an "L" shaped cross section, and the fixing bolt (11) passes through the calibration block (10) and the insert block (9) and extends to the inner surface of the support block (5).

5. The installation structure of the TCP automatic calibration mechanism according to claim 1, characterized in that: The calibration base (13) has a mounting slot one (14) at one end near the calibration block (10), and the mounting slot one (14) is adapted to the mounting slot two (15).

6. The installation structure of the TCP automatic calibration mechanism according to claim 1, characterized in that: The inner surface of the second mounting groove (15) is threaded with a mounting bolt (16), which penetrates the second mounting groove (15) and extends to the inner surface of the first mounting groove (14).

7. The installation structure of the TCP automatic calibration mechanism according to claim 1, characterized in that: The welding torch (3) is located directly above the calibration seat (13), and a limiting block (4) is fixedly installed on the top of the welding workbench (1). The limiting block (4) is adapted to the welding plate (2).

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