Collaborative robot handheld laser welding gun fixing device
By designing the welding torch fastening flange and connecting flange, the problem of misalignment between the welding torch and the robot's sixth axis was solved, achieving stable coaxial fixation of the welding torch, improving welding accuracy, and reducing vibration and offset. It is also easy to install and has low maintenance costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- AOTAI ELECTRIC
- Filing Date
- 2025-04-30
- Publication Date
- 2026-05-05
AI Technical Summary
The existing collaborative robot welding torch and the robot's sixth axis are not concentric, which increases the difficulty of teaching TCP and reduces welding accuracy.
The welding torch is fixed to the end of the robot by using a welding torch fastening flange and a welding torch connecting flange, and using hexagon socket head cap screws to ensure that the welding torch is collinear with the center line of the robot's six-axis end. The welding torch tip is clamped by the welding torch fastening flange to limit the shaking of the welding torch in the XY plane and improve welding accuracy.
It achieves stable coaxial fixation between the welding torch and the six-axis end effector of the robot, reduces TCP teaching error, improves welding accuracy, and reduces vibration and offset. It is easy to install and has low maintenance cost.
Smart Images
Figure CN224196097U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of welding equipment technology, specifically relating to a handheld laser welding gun fixing device for collaborative robots. Background Technology
[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.
[0003] In the field of welding technology, collaborative robots are mainly used to perform welding tasks, ensuring that the welding torch accurately reaches the welding position through motion control. The welding torch generates a high-energy laser beam to melt the welding material, completing the welding operation. The collaborative robot is connected to the welding torch through a fixed device and controls the movement and operation of the welding torch. To ensure welding accuracy, a teach pendant TCP (tool center point) needs to be set to determine the position and orientation of the welding torch tip in the robot coordinate system.
[0004] Most collaborative robots currently use a support arm to hold the welding torch. One end of the support arm is fixed to the connecting flange, and the other end is fixed to the welding torch clamping part. For ease of installation, the support arm is often at an angle to the robot's sixth axis, meaning there is a misalignment issue between the robot's sixth axis and the welding torch. When misaligned, the welding torch and the robot's sixth axis will be at an angle. When teaching the user coordinate system, it is impossible to keep the welding torch perpendicular to the horizontal plane, increasing the difficulty of teaching the TCP (Coordinate System), requiring repeated calibration, and reducing teaching accuracy. Utility Model Content
[0005] To address the technical problems existing in the prior art, this utility model provides a handheld laser welding gun fixing device for collaborative robots, which solves the problems of misalignment between the welding gun and the robot's sixth axis and the inability to accurately control the robot's movement during teaching.
[0006] To achieve the above objectives, this utility model provides the following technical solution:
[0007] This utility model provides a handheld laser welding gun fixing device for a collaborative robot, including a handheld laser welding gun, a welding gun fastening flange, and a welding gun connecting flange. The welding gun fastening flange clamps the top of the handheld laser welding gun and is fixedly connected to one side of the welding gun connecting flange. The other side of the welding gun connecting flange is connected to the end of the robot.
[0008] In a further technical solution, the welding torch fastening flange includes a first clamp and a second clamp arranged opposite to each other.
[0009] In a further technical solution, the first clamp and the second clamp are semi-circular structures, and both have rectangular grooves on their planar sides.
[0010] In a further technical solution, the two opposite ends of the first clamp and the second clamp are respectively provided with through holes.
[0011] A further technical solution involves using a first internal hexagonal head screw to pass through the through hole and securely connect the first clamp and the second clamp.
[0012] In a further technical solution, the first clamp and the second clamp are respectively provided with multiple second threaded holes, and the welding gun connecting flange is provided with multiple third threaded holes.
[0013] A further technical solution involves using a first internal hexagonal head screw that passes through the second and third threaded holes to securely connect the welding torch fastening flange to the welding torch connecting flange.
[0014] In a further technical solution, the welding torch connecting flange is provided with multiple first countersunk holes.
[0015] A further technical solution involves using a second hexagonal head screw to pass through the first countersunk hole and securely connect the welding torch flange to the robot's end effector.
[0016] In a further technical solution, the welding torch connecting flange is also provided with multiple first mounting holes, and a third internal hexagonal head screw passes through the first mounting holes and is fixedly connected to the first threaded hole at the top of the welding torch.
[0017] The beneficial effects of this utility model are:
[0018] This invention utilizes the existing threaded hole at the top of the welding torch and uses various types of internal hexagonal head screws to fix the welding torch to the welding torch connecting flange, thereby fixing it to the end of the robot and ensuring the stability of the welding torch in the Z-axis direction; at the same time, the welding torch fastening flange is used to clamp the top of the welding torch, ensuring the stability of the welding torch.
[0019] This invention connects the welding torch to the robot's end effector via a welding torch connecting flange, ensuring that the welding torch and the robot's six-axis end effector are collinear, thus reducing TCP (tool center point) teaching errors. The welding torch is secured in the Z-axis direction via a threaded hole, and clamped in the XY plane via the welding torch securing flange, reducing vibration and offset during welding and improving welding accuracy.
[0020] This invention uses standardized screw connections, eliminating the need for customized clamps and making installation convenient; the welding torch connecting flange and the welding torch fastening flange can be disassembled and maintained separately, reducing maintenance costs. Attached Figure Description
[0021] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.
[0022] Figure 1 This is an exploded structural diagram of the fixing device according to an embodiment of the present utility model;
[0023] Figure 2 This is an overall installation diagram of the welding torch in the fixing device of this utility model embodiment;
[0024] Figure 3 This is a side view of the welding torch installation in the fixing device of this utility model embodiment;
[0025] Figure 4 This is a schematic diagram of the installation of the welding torch fastening flange and the welding torch connecting flange in the fixing device of this utility model embodiment;
[0026] Figure 5 This is a schematic diagram of the installation of the welding torch and the robot in the fixing device of this utility model embodiment.
[0027] Among them, 1-welding torch, 2-welding torch fastening flange, 201-through hole, 202-second threaded hole, 3-welding torch connecting flange, 301-third threaded hole, 302-first countersunk hole, 303-first mounting hole, 4-robot end effector, 5-first socket head cap screw, 6-second socket head cap screw, 7-third socket head cap screw. Detailed Implementation
[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0029] like Figure 1 As shown in the figure, this utility model embodiment provides a handheld laser welding gun fixing device for a collaborative robot, including a handheld laser welding gun, a welding gun fastening flange and a welding gun connecting flange. The welding gun fastening flange clamps the top of the handheld laser welding gun and is fixedly connected to one side of the welding gun connecting flange. The other side of the welding gun connecting flange is connected to the end of the robot.
[0030] In this embodiment, the handheld laser welding gun has multiple first threaded holes at its tip. Preferably, there are two first threaded holes.
[0031] It should be noted that the first threaded hole is already present in the handheld laser welding gun and does not require additional configuration. The handheld laser welding gun is the main body, and all other structures are connecting components. The handheld laser welding gun is a handheld device used for laser welding. In this embodiment, it is an existing handheld laser welding gun, and its structure and working principle will not be described in detail here.
[0032] In this embodiment, the welding torch fastening flange is used to fasten the welding torch, increase the stable connection between the welding torch and the robot, and ensure that the welding torch will not easily shake in the XY plane, thereby ensuring the stability of the welding process.
[0033] The welding torch fastening flange is a modular structure, consisting of two parts: a first clamp and a second clamp. Both clamps are semi-circular in shape, with rectangular grooves on their flat sides. The first and second clamps are symmetrically designed, with their flat sides facing each other, forming a rectangular through hole between them. This rectangular through hole is used to clamp the top of the welding torch around its perimeter, and they are connected to each other at their opposite ends by first internal hexagonal head screws.
[0034] Furthermore, the first and second clamps each have through holes at their opposite ends. A first hexagonal head screw passes through these holes to secure the two clamps together, thus clamping the tip of the welding torch. In other words, both ends of the first and second clamps have through holes facing each other. The tip of the welding torch is placed within the rectangular through hole, and the first hexagonal head screw passes through the through holes at both ends to secure and fix the first and second clamps, thereby clamping the tip of the welding torch.
[0035] The first clamp and the second clamp are respectively provided with multiple second threaded holes. The second threaded holes are fastened to the third threaded hole of the welding gun connecting flange by the first internal hexagonal head screw, so as to fix the welding gun fastening flange and the welding gun connecting flange and ensure the overall stability.
[0036] Furthermore, preferably, the first clamp and the second clamp are each provided with two second threaded holes, and the second threaded holes on the two clamps are positioned opposite each other to achieve balanced fixation.
[0037] Preferably, the first clamp and the second clamp can be made of high-strength aluminum alloy or stainless steel, which combines lightweight and rigidity.
[0038] The welding torch fastening flange clamps the top of the welding torch using a combination of first and second clamps, increasing the stable connection between the welding torch and the robot, limiting the torch's swaying in the XY plane, ensuring the torch's stability, and preventing shaking during welding. It features high rigidity, easy installation, and compatibility. High rigidity means it provides sufficient rigidity to reduce the impact of vibration on welding accuracy; easy installation means it facilitates quick disassembly and maintenance; and compatibility means it is compatible with various welding torch models.
[0039] In this embodiment, the welding torch connecting flange is a circular flange with a first through hole in the center. The welding torch connecting flange has multiple third threaded holes for connection and fixation by first hexagon socket head cap screws; it also has multiple first countersunk holes for connection and fixation by second hexagon socket head cap screws; and multiple first mounting holes for connection and fixation by third hexagon socket head cap screws.
[0040] The second hexagon head screw passes through the first countersunk hole of the welding torch connecting flange and connects to the robot end effector. The robot end effector has a matching hole for a fixed connection. The third hexagon head screw passes through the first mounting hole of the welding torch connecting flange and connects to the first threaded hole at the tip of the handheld laser welding torch, thus fixing the welding torch to the fixture (welding torch fixing device). The welding torch connecting flange and the end effector of the robot's sixth axis are fastened together using hexagon head screws, ensuring that the welding torch connecting flange and the end effector of the robot's sixth axis are collinear. The robot's sixth axis refers to the robot's body axis, located at the robot's end effector.
[0041] Furthermore, preferably, four third threaded holes are provided, which are adapted to the second threaded holes provided on the welding torch fastening flange, that is, adapted in terms of position, size, and number. The welding torch fastening flange is fixedly connected to the welding torch connecting flange by passing first hexagon socket head cap screws through the second and third threaded holes.
[0042] Furthermore, preferably, the first countersunk hole is provided with four holes.
[0043] Furthermore, preferably, there are two first mounting holes, which are adapted to the first threaded hole. The first mounting hole is adapted to the first threaded hole at the tip of the welding torch, and the welding torch is fixed by the threaded hole at the tip of the welding torch, ensuring the tightness and stability of the welding torch in the Z-axis direction, as well as the concentricity of the welding torch and the robot.
[0044] Preferably, the welding torch connection flange can be made of high-strength aluminum alloy or stainless steel, which combines lightweight and rigidity.
[0045] It should be noted that the number and position of the third threaded hole, countersunk hole and the first mounting hole on the welding torch connecting flange can be flexibly designed according to the actual situation, and need to be compatible with their respective corresponding holes, without specific limitations.
[0046] Preferably, the first socket head cap screw has a thread diameter of 4 mm and a length of 20 mm (M4×20), used to connect and fix the welding torch fastening flange and the welding torch connecting flange, and also used to clamp and fix the first and second clamps. The second socket head cap screw has a thread diameter of 6 mm and a length of 16 mm (M6×16), used to connect and fix the welding torch connecting flange and the robot end effector. The third socket head cap screw has a thread diameter of 3 mm and a length of 60 mm (M3×60), used to connect and fix the welding torch connecting flange and the welding torch, thereby fixing the welding torch to the robot end effector.
[0047] Detailed explanation of working principle:
[0048] A handheld laser welding torch fixing device for collaborative robots utilizes the existing threaded hole on the top of the welding torch and uses hexagon socket head cap screws to fix the welding torch to the welding torch connecting flange, ensuring the stability of the welding torch in the Z-axis direction. The welding torch fastening flange is used to clamp the top of the welding torch, ensuring its stability. This achieves stable and coaxial fixing of the handheld laser welding torch to the six-axis end effector of the collaborative robot, thereby improving welding accuracy and operational stability.
[0049] Specifically, firstly, a third hexagon head screw is used to pass through the first mounting hole of the welding torch connecting flange and connect to the first threaded hole at the tip of the welding torch, thus fixing the welding torch to the welding torch connecting flange. Secondly, the first countersunk hole of the welding torch connecting flange is aligned with the hole at the robot end effector, and a second hexagon head screw is used to pass through the first countersunk hole of the welding torch connecting flange and connect to the robot end effector, thus achieving coaxial fixation between the welding torch connecting flange and the robot end effector. Subsequently, the first and second clamps are aligned on both sides of the tip of the handheld laser welding torch so that the tip of the handheld laser welding torch is placed in the rectangular through hole of the welding torch fastening flange. The first hexagon head screw is used to pass through the through holes at both ends of the first and second clamps to clamp the tip of the welding torch, restricting its displacement in the XY plane. At the same time, the second threaded hole of the welding torch fastening flange is aligned with the third threaded hole of the welding torch connecting flange, and a first hexagon head screw is used to pass through the second and third threaded holes to fix the welding torch fastening flange and the welding torch connecting flange. Finally, the welding torch and the robot end effector are fixed, forming a rigid connection between the robot and the welding torch.
[0050] This invention enables the welding torch and the end of the robot's six axes to be concentric. When concentric, the robot's sixth axis can be set perpendicular to the horizontal plane, thus ensuring that the welding torch is perpendicular to the horizontal plane.
[0051] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.
Claims
1. A handheld laser welding gun fixing device for a collaborative robot, characterized in that: It includes a handheld laser welding gun, a welding gun fastening flange, and a welding gun connecting flange. The welding gun fastening flange clamps the top of the handheld laser welding gun and is fixedly connected to one side of the welding gun connecting flange. The other side of the welding gun connecting flange is connected to the end of the robot.
2. The handheld laser welding gun fixing device for collaborative robots as described in claim 1, characterized in that: The welding torch fastening flange includes a first clamp and a second clamp arranged opposite to each other.
3. The handheld laser welding gun fixing device for collaborative robots as described in claim 2, characterized in that: The first clamp and the second clamp are semi-circular structures, and both have rectangular grooves on their planar sides.
4. The handheld laser welding gun fixing device for a collaborative robot as described in claim 2, characterized in that: The first clamp and the second clamp each have a through hole at their opposite ends.
5. The handheld laser welding gun fixing device for a collaborative robot as described in claim 4, characterized in that: The first internal hex socket head cap screw passes through the through hole to secure the first clamp and the second clamp together.
6. The handheld laser welding gun fixing device for collaborative robots as described in claim 2, characterized in that: The first clamp and the second clamp are respectively provided with multiple second threaded holes, and the welding gun connecting flange is provided with multiple third threaded holes.
7. The handheld laser welding gun fixing device for a collaborative robot as described in claim 6, characterized in that: The first internal hex socket head cap screw passes through the second and third threaded holes to securely connect the welding torch fastening flange to the welding torch connecting flange.
8. The handheld laser welding gun fixing device for a collaborative robot as described in claim 1, characterized in that: The welding torch connecting flange is provided with multiple first countersunk holes.
9. The handheld laser welding gun fixing device for a collaborative robot as described in claim 8, characterized in that: The second hex socket head cap screw passes through the first countersunk hole to secure the welding torch connecting flange to the end of the robot.
10. The handheld laser welding gun fixing device for a collaborative robot as described in claim 1, characterized in that: The welding torch connecting flange is also provided with multiple first mounting holes, and a third internal hexagonal head screw passes through the first mounting hole and is fixedly connected to the first threaded hole at the top of the welding torch.