Welding robot welding gun TCP alignment auxiliary device

Abstract

The utility model relates to a TCP alignment auxiliary device for a welding gun of a welding robot, and relates to the field of welding technical equipment.The TCP alignment auxiliary device comprises a switching assembly, one end of the switching assembly is connected with the welding gun, the end, away from the welding gun, of the switching assembly is connected with a distance sensor, and the detection end of the distance sensor and the welding gun are coaxially arranged; the length between the distance sensor and the switching assembly is adjusted in the gun head direction of the welding gun. The method has the effect of ensuring the precision of TCP point location and pointing in the programming process of the welding robot.

Description

Technical Field

[0001] This application relates to the field of welding technology equipment, and in particular to a TCP alignment auxiliary device for a welding robot welding torch. Background Technology

[0002] During online debugging or programming of welding robots, the end effector TCP (tool center point) is usually set to the end of the welding wire. The length of the welding wire extending beyond the nozzle is called the wire extension (the wire extension is generally the same under the same welding process). The programming process ensures a certain wire extension, and the end of the welding wire is aligned with the target weld position. To ensure the accuracy of the programmed position, the welding wire needs to have good directionality, while the wire extension does not change.

[0003] Currently, the welding wire is cut to the required extension length for programming or debugging. During the robot's movement, the welding wire is prone to touching the workpiece surface or spot welding fixing point. After the welding wire bends and deforms, the end of the welding wire and the theoretical TCP position are misaligned, resulting in deviation of the programmed position and ultimately affecting the actual welding effect. Utility Model Content

[0004] To ensure the accuracy of TCP positioning and pointing during the programming process of welding robots, this application provides a TCP alignment auxiliary device for welding robot welding torches.

[0005] This application provides a TCP alignment auxiliary device for a welding robot welding torch, which adopts the following technical solution:

[0006] A TCP alignment auxiliary device for a welding robot torch includes an adapter assembly. One end of the adapter assembly is connected to the welding torch, and the end of the adapter assembly facing away from the welding torch is connected to a distance sensor. The detection end of the distance sensor is coaxially arranged with the welding torch, and the distance sensor and the adapter assembly are adjustable in length along the torch tip direction.

[0007] Optionally, the adapter assembly includes an adapter tube with an adapter hole inside. The adapter hole is coaxially arranged with the direction of the welding torch tip, and one end of the distance sensor extends into the adapter hole.

[0008] Optionally, the adapter hole includes a first adapter portion, and a second adapter portion is provided on the side of the adapter hole near the distance sensor. The first adapter portion and the second adapter portion are coaxially arranged. The end of the welding gun is threadedly connected to the side wall of the first adapter portion, and the distance sensor is threadedly connected to the side wall of the second adapter portion.

[0009] Optionally, the side wall of the adapter pipe is provided with a connecting hole, which communicates with the second adapter part, and the wiring harness of the distance sensor extends out from the connecting hole.

[0010] Optionally, the side wall of the adapter pipe is threaded with a fastening bolt, the end of which is opposite to the second adapter and abuts against the side wall of the distance sensor.

[0011] Optionally, the interiors of the first adapter and the second adapter are in relative communication.

[0012] Optionally, the connecting hole is opened along the axial direction of the adapter pipe, and the length of the connecting hole is greater than the width of the wire harness.

[0013] Optionally, a scale is provided on the side wall of the distance sensor, and the scale is arranged along the axial direction of the distance sensor.

[0014] In summary, this application includes at least one of the following beneficial technical effects:

[0015] 1. After the device is installed on the welding torch to replace the nozzle, the power is turned on, and the actual distance between the workpiece surface and the nozzle can be displayed in real time. Based on the known extension length and position, the robot is adjusted to move to the required position, avoiding the problem of inaccurate TCP position caused by the welding wire touching the workpiece during the movement. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the usage state of a welding robot welding torch TCP alignment auxiliary device in an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the structure of a TCP alignment auxiliary device for a welding robot welding torch in an embodiment of this application.

[0018] Explanation of reference numerals in the attached drawings: 1. Adapter assembly; 11. Adapter pipe; 111. Connecting hole; 12. Adapter hole; 121. First adapter part; 122. Second adapter part; 13. Fastening bolt; 2. Distance sensor; 21. Scale; 22. Wiring harness. Detailed Implementation

[0019] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0020] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0021] During online debugging or programming of welding robots, the end effector TCP (tool center point) is usually set to the end of the welding wire. The length of the welding wire extending beyond the nozzle is called the wire extension (the wire extension is generally the same under the same welding process). The programming process ensures a certain wire extension, and the end of the welding wire is aligned with the target weld position. To ensure the accuracy of the programmed position, the welding wire needs to have good directionality, while the wire extension does not change.

[0022] Currently, the welding wire is cut to the required extension length for programming or debugging. During the robot's movement, the welding wire is prone to touching the workpiece surface or spot welding fixing point. After the welding wire bends and deforms, the end of the welding wire and the theoretical TCP position are misaligned, resulting in deviation of the programmed position and ultimately affecting the actual welding effect.

[0023] To ensure the accuracy of TCP positioning and pointing during the programming process of welding robots, this application provides a TCP alignment auxiliary device for welding robot welding torches.

[0024] The following is in conjunction with the appendix Figure 1-2 This application will be described in further detail.

[0025] This application discloses a TCP alignment auxiliary device for a welding robot's welding torch. (Refer to...) Figure 1 , Figure 2 A welding robot welding torch TCP alignment auxiliary device includes an adapter component 1. One end of the adapter component 1 is connected to the welding torch, and the other end of the adapter component 1 is connected to a distance sensor 2. The welding torch and the distance sensor 2 are connected through the adapter component 1. The detection end of the distance sensor 2 is set coaxially with the direction of the welding torch head, so that the distance at the welding position can be detected and judged by the distance sensor 2, and the actual distance between the workpiece surface and the nozzle can be displayed in real time. Based on the known extension length and position, the robot can be adjusted to move to the required position, avoiding the problem of inaccurate TCP positioning caused by the welding wire touching the workpiece during the movement.

[0026] The adapter assembly 1 includes an adapter tube 11, which is a tubular structure and is coaxially arranged with the welding torch head. An adapter hole 12 is coaxially formed on the adapter tube 11, completely penetrating the adapter tube 11. The adapter hole 12 includes a first adapter portion 121 near the welding torch end and a second adapter portion 122 near the distance sensor 2 end of the first adapter portion 121. The first adapter portion 121 and the second adapter portion 122 are coaxially arranged and communicate with each other. The diameter of the first adapter portion 121 is larger than the diameter of the second adapter portion 122.

[0027] The welding torch is threadedly connected to the first adapter 121, and the outer wall of the distance sensor 2 is threadedly connected to the second adapter 122. By rotating the distance sensor 2, the distance sensor 2 moves along the axial direction of the second adapter 122, thereby adjusting the distance between the detection end of the distance sensor 2 and the point to be measured.

[0028] The side wall of the adapter pipe 11 is threaded with a fastening bolt 13. The axial direction of the fastening bolt 13 is perpendicular to the axial direction of the second adapter part 122, and the end of the fastening bolt 13 extends into the interior of the second adapter part 122, so that the end of the fastening bolt 13 abuts against the side wall of the distance sensor 2. Then, when the distance sensor 2 moves into place, by rotating the fastening bolt 13, the end of the fastening bolt 13 is pressed against the side wall of the distance sensor 2, thus limiting the movement of the distance sensor 2.

[0029] A scale 21 is provided on the outer wall of the distance sensor 2. The scale 21 is set along the axis of the distance sensor 2. The scale 21 makes it easy to observe the length of the distance sensor 2 extending from the inside of the rotating tube 11, so that the overall length can be adjusted to the required size. Generally, the length is adjusted to be the same as the size of the nozzle that matches the welding gun.

[0030] A connecting hole 111 is also provided on the side wall of the adapter pipe 11. One end of the connecting hole 111 is connected to the interior of the adapter hole 12. The connecting hole 111 is a rectangular hole, and the length of the connecting hole 111 is set along the axis of the adapter pipe 11.

[0031] The wiring harness 22 of the distance sensor 2 can be extended to the outside through the connecting hole 111, and the length of the connecting hole 111 along the axis of the adapter pipe 11 is greater than the width of the wiring harness 22, thereby facilitating the extension of the wiring harness 22.

[0032] This application uses a distance sensor 2 and an adapter tube 11 connected by threads, and the overall length can be adjusted to the required size. Generally, the length is adjusted to be the same as the nozzle size that matches the welding torch. After the length is adjusted, the distance sensor 2 and the adapter tube 11 are fastened together with the fastening bolt 13, and the signal wire and power wire of the distance sensor 2 are pulled out from the connecting hole 111.

[0033] At this point, the device's dimensions are the same as the welding torch nozzle, with the laser sensor and laser emitter located at the very center of the device, and the TCP (Cut-Off Point) position on this center line. After replacing the nozzle with the device and installing it on the welding torch, and connecting the power, the actual distance between the workpiece surface and the nozzle can be displayed in real time. Based on the known extension length and position, the robot can be adjusted to move to the required position, avoiding the problem of inaccurate TCP positioning caused by the welding wire touching the workpiece during movement.

[0034] In this application, the term "multiple" refers to at least two or more, unless otherwise expressly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A welding robot torch TCP alignment aid, characterized by: It includes an adapter assembly (1), one end of which is connected to a welding torch. A distance sensor (2) is connected to the end of the adapter assembly (1) away from the welding torch. The detection end of the distance sensor (2) is coaxially arranged with the welding torch. The distance sensor (2) and the adapter assembly (1) are adjustable in length along the torch head direction.

2. The welding robot torch TCP alignment aid of claim 1, wherein: The adapter assembly (1) includes an adapter tube (11), and an adapter hole (12) is provided inside the adapter tube (11). The adapter hole (12) is coaxially arranged with the direction of the welding torch head, and one end of the distance sensor (2) extends into the interior of the adapter hole (12).

3. The welding robot torch TCP alignment aid of claim 2, wherein: The adapter hole (12) includes a first adapter part (121), and a second adapter part (122) is provided on the side of the adapter hole (12) near the distance sensor (2). The first adapter part (121) and the second adapter part (122) are coaxially arranged. The end of the welding gun is threadedly connected to the side wall of the first adapter part (121), and the distance sensor (2) is threadedly connected to the side wall of the second adapter part (122).

4. The welding robot torch TCP alignment aid of claim 3, wherein: The side wall of the adapter pipe (11) is provided with a connecting hole (111), which is connected to the second adapter part (122), and the wire harness (22) of the distance sensor (2) extends out from the connecting hole (111).

5. The welding robot torch TCP alignment aid of claim 3, wherein: The side wall of the adapter pipe (11) is threaded with a fastening bolt (13), the end of which is opposite to the second adapter part (122) and abuts against the side wall of the distance sensor (2).

6. The welding robot torch TCP alignment aid of claim 3, wherein: The first adapter (121) and the second adapter (122) are internally connected.

7. The welding robot torch TCP alignment aid of claim 4, wherein: The connecting hole (111) is opened along the axial direction of the adapter pipe (11), and the length of the connecting hole (111) is greater than the width of the wire harness (22).

8. The welding robot torch TCP alignment aid of claim 1, wherein: The distance sensor (2) has a scale (21) on its side wall, and the scale (21) is arranged along the axial direction of the distance sensor (2).

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