Double-robot laser locating welding device

Abstract

The utility model relates to the technical field of robot laser locating welding, and provides a double-robot laser locating welding device which comprises a control base, two sets of laser locating welding mechanical arms, an arc-shaped sliding frame, a horizontal fixing clamp and a sliding clamp. The two sets of laser locating welding mechanical arms are arranged on the two sides of the control base in a sliding mode, the two sets of laser locating welding mechanical arms are arranged on the two sides of the arc-shaped sliding frame respectively, the horizontal fixing clamp is arranged on the control base in a sliding mode, and the sliding clamp is fixedly arranged on the arc-shaped sliding frame. The laser locating welding mechanical arms are controlled through the control base, the two sets of laser locating welding mechanical arms conduct welding work, a workpiece is fixed through cooperation of the horizontal fixing clamp and the control base, the workpiece is fixedly clamped through the sliding clamp, and the position angle of the sliding clamp is adjusted through the arc-shaped sliding frame.

Description

Technical Field

[0001] This utility model relates to the field of robotic laser positioning welding technology, and in particular to a dual-robot laser positioning welding device. Background Technology

[0002] Laser-guided welding is a common welding technology that uses a laser beam for welding and a laser vision system for precise positioning of the weld seam. This technology enables high-precision and high-efficiency welding, and is particularly suitable for precision components and complex welded structures. The core of the dual-robot collaborative welding system lies in its 12-DOF collaborative control technology, where each robot is equipped with 6 DDoS joints, achieving precise synchronization of spatial trajectories through real-time communication and dynamic compensation algorithms. This architecture not only overcomes the spatial limitations of single-robot operations but also enables the welding of complex curved surfaces through multi-axis linkage, such as the continuous welding of three-dimensional workpieces like oil tanks and ship structural components.

[0003] As shown in application number CN202311698088.4, a laser positioning welding device for tablet computer structural components includes: a base for supporting the entire device; a welding drive mechanism for driving a welding machine to weld tablet computer structural components; a welding machine body, with a welding head on one side and multiple laser positioning sensors on the other side of the welding head; a positioning mechanism for fixing the tablet computer structural components, which can deflect the tablet computer structural components at a certain angle to accommodate complex welding requirements with many weld points; and a positioning plate for enabling the positioning mechanism to quickly perform origin positioning after fixing the tablet computer structural components.

[0004] As described in the above scheme, the dual-robot laser positioning welding device has a significant advantage in welding three-dimensional workpieces from multiple angles. However, the fit between workpieces is complex and inconsistent. In particular, the welding fit between non-standard workpieces requires multiple sets of fixtures and manual assistance for fixation, which is time-consuming and labor-intensive. Utility Model Content

[0005] To address the difficulty of positioning and coordination between complex three-dimensional workpieces during welding, this invention provides a dual-robot laser positioning welding device to solve this problem.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A dual-robot laser positioning welding device includes: a control base, a laser positioning welding robotic arm, an arc-shaped sliding frame, a horizontal fixed clamp, and a sliding clamp. The arc-shaped sliding frame is fixedly mounted on the control base. Two sets of laser positioning welding robotic arms are provided, with the two sets of laser positioning welding robotic arms slidably mounted on both sides of the control base and respectively mounted on both sides of the arc-shaped sliding frame. The horizontal fixed clamp is slidably mounted on the control base, and the sliding clamp is fixedly mounted on the arc-shaped sliding frame.

[0008] Preferably, the control base includes: a control base, a clamping base, a robotic arm moving base, a drive shaft, a drive motor, and a horizontal clamping rod. The control base is fixedly mounted on the clamping base, and the horizontal clamping rod is fitted onto the control base. The clamping base has a horizontal clamping groove and an arc-shaped storage groove. The arc-shaped sliding frame is fitted onto the arc-shaped storage groove. A fixed clamping seat is fixedly mounted on the horizontal clamping groove. The clamping base has two sets of drive sliding grooves, which are located on both sides of the horizontal clamping groove. The drive shaft is rotatably mounted in the drive sliding groove. The output end of the drive motor is fixedly mounted on the drive shaft. The robotic arm moving base is fitted onto the drive shaft. The laser positioning welding robotic arm is fitted onto the robotic arm moving base. The horizontal fixed clamp is fitted onto the horizontal clamping rod.

[0009] Preferably, the horizontal fixing clamp includes: a horizontal frame, a first semi-circular abutment, a second semi-circular abutment, and a third semi-circular abutment. The horizontal frame is configured to cooperate with the horizontal clamp rod. The horizontal frame has multiple sets of first arc-shaped grooves. The first semi-circular abutment has a first sliding groove and a second arc-shaped groove. The first semi-circular abutment is slidably disposed in the first arc-shaped groove through the first sliding groove. The second semi-circular abutment has a second sliding groove and a third arc-shaped groove. The second semi-circular abutment is slidably disposed in the second arc-shaped groove through the second sliding groove. The third semi-circular abutment has a third sliding groove. The third semi-circular abutment is slidably disposed in the third arc-shaped groove through the third sliding groove.

[0010] Preferably, the arc-shaped sliding frame includes: a fixed arc seat, a sliding arc drive motor, a sliding arc, arc-shaped teeth, a drive gear shaft, and a drive gear. The fixed arc seat is fixedly mounted on the clamping base. An arc-shaped sliding groove is formed on the fixed arc seat. The end face of the arc-shaped sliding groove mates with the end face of the arc-shaped receiving groove. The arc-shaped sliding groove and the arc-shaped receiving groove have the same curvature. The sliding arc is slidably mounted in the arc-shaped sliding groove. The drive gear shaft is rotatably mounted on the fixed arc seat. The drive gear is fixedly mounted on the drive gear shaft. The output end of the sliding arc drive motor is mated with the drive gear shaft. The drive gear mates with the arc-shaped teeth. The arc-shaped teeth are fixedly mounted on the sliding arc. A sliding clamping groove is formed inside the arc-shaped sliding groove. The sliding clamp is slidably mounted in the sliding clamping groove.

[0011] Preferably, the sliding clamp includes: a sliding clamp seat, a sliding clamp plate, a fixed clamp plate, and a fixed threaded rod. The sliding clamp seat is fixedly disposed on the sliding arc. A clamp plate groove is formed on the sliding clamp seat. The sliding clamp plate is slidably disposed in the clamp plate groove. The fixed clamp plate is fixedly disposed in the clamp plate groove. The fixed threaded rod passes through the fixed clamp plate and the sliding clamp seat. The sliding clamp plate and the fixed threaded rod are configured to cooperate with each other.

[0012] Preferably, a control panel is fixedly installed on the control base, and the control panel is electrically connected to the drive motor, the laser positioning welding robot arm, and the arc-driven motor.

[0013] The advantages of this utility model are as follows: the first workpiece or a part of a complex workpiece is clamped by the horizontal fixed clamp on the clamping base; the complex workpiece with irregular surface can be adapted by the cooperation of multiple sets of semi-circular abutment joints; the second workpiece or a part of a complex workpiece is clamped by the sliding clamp; the cooperation of the sliding clamp and the horizontal fixed clamp allows multiple sets of workpieces or complex workpieces to be set up according to processing requirements; the direction and position of the sliding clamp can be adjusted by the arc-shaped sliding frame to improve the adaptability to the workpiece; the laser positioning welding robot arm is driven to move by the control base, so that the two sets of laser positioning welding robot arms cooperate with each other to perform the welding work of the workpiece. Attached Figure Description

[0014] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the control base of this utility model;

[0017] Figure 3 This is a side sectional view of the control base of this utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the horizontal fixing clip of this utility model;

[0019] Figure 5 This is a schematic diagram of the arc-shaped sliding frame of this utility model;

[0020] Figure 6 This is a schematic diagram of the structure of the sliding clamp of this utility model;

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Control base; 2. Laser positioning welding robotic arm; 3. Arc-shaped sliding frame; 4. Horizontal fixed clamp; 5. Sliding clamp; 6. Control base; 7. Control panel; 8. Clamping base; 9. Horizontal clamping slot; 10. Drive slide; 11. Drive motor; 12. Drive shaft; 13. Robotic arm moving base; 14. Fixed clamp; 15. Arc-shaped storage slot; 16. Horizontal clamp rod; 17. Horizontal frame; 18. First semi-circular abutment joint; 19. Second semi-circular abutment joint; 20. Third semi-circular abutment joint; 21. Round abutment joint; 22. First arc-shaped groove; 23. First sliding groove; 24. Second sliding groove; 25. Third arc-shaped groove; 26. Third sliding groove; 27. Fixed arc seat; 28. Sliding arc drive motor; 29. ​​Drive gear shaft; 30. Drive gear; 31. Arc-shaped sliding groove; 32. Sliding clamp groove; 33. Sliding arc; 34. Arc-shaped tooth; 35. Sliding clamp seat; 36. Fixed threaded rod; 37. Sliding clamp plate; 38. Fixed clamp plate; 39. Clamp plate groove. Detailed Implementation

[0023] Example 1, combined with Figure 1 Explanation:

[0024] A dual-robot laser positioning welding device includes: a control base 1, a laser positioning welding robotic arm 2, an arc-shaped sliding frame 3, a horizontal fixing clamp 4, and a sliding clamp 5. The arc-shaped sliding frame 3 is fixedly mounted on the control base 1. Two sets of laser positioning welding robotic arms 2 are provided, and the two sets of laser positioning welding robotic arms 2 are slidably mounted on both sides of the control base 1. The two sets of laser positioning welding robotic arms 2 are respectively mounted on both sides of the arc-shaped sliding frame 3. The horizontal fixing clamp 4 is slidably mounted on the control base 1, and the sliding clamp 5 is fixedly mounted on the arc-shaped sliding frame 3.

[0025] With this configuration, two sets of laser positioning welding robotic arms 2 are mounted on the control base 1. The control base 1 drives the two sets of laser positioning welding robotic arms. The horizontal fixed clamp 4 and sliding clamp 5 clamp and fix the workpiece. The two sets of laser positioning welding robotic arms 2 are symmetrically arranged on both sides, which facilitates welding processing on the fixed workpiece. The position of the sliding clamp 5 can be adjusted by the arc-shaped sliding frame 3 to adapt to the workpiece condition and welding requirements.

[0026] Example 2, based on Example 1, combined with... Figure 2 and Figure 3 Explanation:

[0027] The control base 1 includes: a control base 6, a clamping base 8, a robotic arm moving base 13, a drive shaft 12, a drive motor 11, and a horizontal clamping rod 16. The control base 6 is fixedly mounted on the clamping base 8, and the horizontal clamping rod 16 is fitted onto the control base 6. The clamping base 8 has a horizontal clamping groove 9 and an arc-shaped storage groove 15. The arc-shaped sliding frame 3 is fitted onto the arc-shaped storage groove 15. A fixed clamping seat 14 is fixedly mounted on the horizontal clamping groove 9. The clamping base 8 has two sets of drive sliding grooves 10, which are located on both sides of the horizontal clamping groove 9. The drive shaft 12 is rotatably mounted in the drive sliding groove 10. The output end of the drive motor 11 is fixedly mounted on the drive shaft 12. The robotic arm moving base 13 is fitted onto the drive shaft 12. The laser positioning welding robotic arm 2 is fitted onto the robotic arm moving base 13. The horizontal fixed clamp 4 is fitted onto the horizontal clamping rod 16. A control panel 7 is fixedly installed on the control base 6. The control panel 7 is electrically connected to the drive motor 14, the laser positioning welding robot arm 2, and the arc sliding drive motor 28.

[0028] With this configuration, the drive motor 14, the laser positioning welding robot arm 2, and the sliding arc drive motor 28 are controlled via the control panel 7 on the control base 6. The horizontal clamping rod 16 on the clamping base 8 controls the movement of the horizontal fixed clamp 4. The horizontal fixed clamp 4 cooperates with the fixed clamping base 14 to clamp the workpiece. The drive motor 11 drives the drive shaft 12. The cooperation between the drive shaft 12 and the robot arm moving seat 13 drives the laser positioning welding robot arm 2 to move, facilitating the welding work of the laser positioning welding robot arm 2. The arc-shaped sliding frame 3 is configured to cooperate with the arc-shaped storage groove 15 to store the sliding arc 33.

[0029] Example 3, based on Example 2, combined with Figure 3 Explanation:

[0030] The horizontal fixing clamp 4 includes: a horizontal frame 17, a first semi-circular abutment 18, a second semi-circular abutment 19, and a third semi-circular abutment 20. The horizontal frame 17 is configured to cooperate with the horizontal clamp rod 16. The horizontal frame 17 has multiple sets of first arc-shaped grooves 21. The first semi-circular abutment 18 has a first sliding groove 22 and a second arc-shaped groove 23. The first semi-circular abutment 18 is slidably disposed in the first arc-shaped groove 21 through the first sliding groove 22. The second semi-circular abutment 19 has a second sliding groove 24 and a third arc-shaped groove 25. The second semi-circular abutment 19 is slidably disposed in the second arc-shaped groove 23 through the second sliding groove 24. The third semi-circular abutment 20 has a third sliding groove 26. The third semi-circular abutment 20 is slidably disposed in the third arc-shaped groove 25 through the third sliding groove 26.

[0031] With this configuration, the horizontal frame 17 moves in conjunction with the horizontal clamp rod 16, causing the horizontal frame 17 to push multiple sets of semi-circular abutments to move. These multiple sets of semi-circular abutments are slidably configured, and the third semi-circular abutment 20 directly abuts against the workpiece. The direction of the abutment surface is adjusted by the multiple sets of slidably configured semi-circular abutments to adapt to the complex abutment surface of the workpiece.

[0032] Example 4, based on Example 3, combined with Figure 4 Explanation:

[0033] The arc-shaped sliding frame 3 includes: a fixed arc seat 27, a sliding arc drive motor 28, a sliding arc 33, an arc-shaped tooth 34, a drive gear shaft 29, and a drive gear 30. The fixed arc seat 27 is fixedly mounted on the clamping base 8. An arc-shaped sliding groove 31 is provided on the fixed arc seat 27. The end face of the arc-shaped sliding groove 31 is matched with the end face of the arc-shaped storage groove 15. The arc-shaped sliding groove 31 and the arc-shaped storage groove 15 have the same curvature. The sliding arc 33 is slidably mounted in the arc-shaped sliding groove 31. The drive gear shaft 29 is rotatably mounted on the fixed arc seat 27. The drive gear 30 is fixedly mounted on the drive gear shaft 29. The output end of the sliding arc drive motor 28 is matched with the drive gear shaft 29. The drive gear 30 is matched with the arc-shaped tooth 34. The arc-shaped tooth 34 is fixedly mounted on the sliding arc 33. The sliding clamp 5 is fixedly mounted on the sliding arc 33. A sliding clamp groove 32 is provided inside the arc-shaped sliding groove 31. The sliding clamp 5 is slidably mounted in the sliding clamp groove 32.

[0034] With this configuration, the fixed arc seat 27 provides support for the sliding arc 33 and the sliding arc drive motor 28. The sliding arc 33 is slidably disposed in the arc-shaped sliding groove 31. The sliding arc 33 is driven by the cooperation of the arc-shaped teeth 34 and the drive gear 30. The sliding arc drive motor 28 drives the drive gear 30. The sliding arc 33 drives the sliding clamp 5, thereby adjusting the position of the sliding clamp 5.

[0035] Example 5, based on Example 4, combined with Figure 5 Explanation:

[0036] The sliding clamp 5 includes: a sliding clamp seat 35, a sliding clamp plate 37, a fixed clamp plate 38, and a fixed threaded rod 36. The sliding clamp seat 35 is fixedly mounted on the sliding arc 33. A clamp plate groove 39 is provided on the sliding clamp seat 35. The sliding clamp plate 37 is slidably mounted in the clamp plate groove 39. The fixed clamp plate 38 is fixedly mounted in the clamp plate groove 39. The fixed threaded rod 36 passes through the fixed clamp plate 38 and the sliding clamp seat 35. The sliding clamp plate 37 and the fixed threaded rod 36 are configured to cooperate with each other.

[0037] With this configuration, the sliding clamp 35 is fixedly mounted on the sliding arc 33, and the sliding clamp 37 and the fixed clamp 38 are configured to cooperate. The sliding clamp 37 is driven by the fixed thread 36, and the workpiece is clamped by the cooperation of the sliding clamp 37 and the fixed clamp 38.

[0038] The working principle of this utility model is as follows: The workpiece is fixedly clamped by multiple sets of semi-circular abutments on the horizontal fixed clamp 4. These semi-circular abutments are slidably arranged, with the third semi-circular abutment 20 directly contacting the workpiece. The direction of the contact surface is adjusted by the multiple slidably arranged semi-circular abutments to adapt to the complex contact surface of the workpiece. The sliding clamp 5 clamps other or complex workpieces. The sliding clamp 5 is adjusted by sliding along the sliding arc 33, allowing it to cooperate with the horizontal fixed clamp 4 to adjust the workpiece state. The two sets of laser positioning welding robotic arms are controlled by the control base 1. Driven by a control base 1, two sets of laser-guided welding robotic arms 2 are symmetrically arranged on both sides of a sliding clamp 5, facilitating welding of fixed workpieces. The position of the sliding clamp 5 can be adjusted via an arc-shaped sliding frame 3 to adapt to workpiece conditions and welding requirements. This invention features a simple structure and significant effects. The laser-guided welding robotic arms 2 are controlled by a control base 1, and the two sets of laser-guided welding robotic arms 2 perform welding operations. The workpiece is fixed by a horizontal fixing clamp 4 in conjunction with the control base 1, and the workpiece is held in place by the sliding clamp 5. The position and angle of the sliding clamp 5 can be adjusted via the arc-shaped sliding frame 3.

[0039] For those skilled in the art, this utility model is not limited to the details of the exemplary embodiments described above, and can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model; therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0040] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any minor modifications, equivalent substitutions and improvements made to the above embodiments based on the technical essence of the present utility model should be included within the protection scope of the technical solution of the present utility model.

Claims

1. A dual-robot laser positioning welding device, characterized in that, include: The control base (1), laser positioning welding robot arm (2), arc-shaped sliding frame (3), horizontal fixing clamp (4) and sliding clamp (5) are provided. The arc-shaped sliding frame (3) is fixedly mounted on the control base (1). There are two sets of laser positioning welding robot arms (2). The two sets of laser positioning welding robot arms (2) are slidably mounted on both sides of the control base (1). The two sets of laser positioning welding robot arms (2) are respectively mounted on both sides of the arc-shaped sliding frame (3). The horizontal fixing clamp (4) is slidably mounted on the control base (1). The sliding clamp (5) is fixedly mounted on the arc-shaped sliding frame (3).

2. The dual-robot laser positioning welding device according to claim 1, characterized in that, The control base (1) includes: a control base (6), a clamping base (8), a robotic arm moving base (13), a drive shaft (12), a drive motor (11), and a horizontal clamping rod (16). The control base (6) is fixedly mounted on the clamping base (8), and the horizontal clamping rod (16) is fitted onto the control base (6). The clamping base (8) has a horizontal clamping groove (9) and an arc-shaped storage groove (15). The arc-shaped sliding frame (3) is fitted onto the arc-shaped storage groove (15), and a fixed clamping seat is fixedly mounted on the horizontal clamping groove (9). 14) The clamping base (8) is provided with two sets of drive slide grooves (10), the two sets of drive slide grooves (10) are arranged on both sides of the horizontal clamping groove (9), the drive shaft (12) is rotatably arranged in the drive slide groove (10), the output end of the drive motor (11) is fixedly arranged on the drive shaft (12), the robotic arm moving seat (13) is fitted on the drive shaft (12), the laser positioning welding robotic arm (2) is fitted on the robotic arm moving seat (13), and the horizontal fixing clamp (4) is fitted on the horizontal clamp rod (16).

3. The dual-robot laser positioning welding device according to claim 2, characterized in that, The horizontal fixing clamp (4) includes: a horizontal frame (17), a first semi-circular abutment (18), a second semi-circular abutment (19), and a third semi-circular abutment (20). The horizontal frame (17) is configured to cooperate with the horizontal clamp rod (16). The horizontal frame (17) has multiple sets of first arc-shaped grooves (21). The first semi-circular abutment (18) has a first sliding groove (22) and a second arc-shaped groove (23). The first semi-circular abutment (18) passes through the first sliding groove. (22) Slidingly disposed in the first arc groove (21), the second semi-circular abutment (19) is provided with a second sliding groove (24) and a third arc groove (25), the second semi-circular abutment (19) is slidably disposed in the second arc groove (23) through the second sliding groove (24), the third semi-circular abutment (20) is provided with a third sliding groove (26), the third semi-circular abutment (20) is slidably disposed in the third arc groove (25) through the third sliding groove (26).

4. The dual-robot laser positioning welding device according to claim 2, characterized in that, The arc-shaped sliding frame (3) includes: a fixed arc seat (27), a sliding arc drive motor (28), a sliding arc (33), an arc-shaped tooth (34), a drive gear shaft (29), and a drive gear (30). The fixed arc seat (27) is fixedly mounted on the clamping base (8). An arc-shaped sliding groove (31) is provided on the fixed arc seat (27). The end face of the arc-shaped sliding groove (31) is matched with the end face of the arc-shaped storage groove (15). The arc-shaped sliding groove (31) and the arc-shaped storage groove (15) have the same curvature. The sliding arc (33) is slidably mounted in the arc-shaped sliding groove (31). The drive gear shaft (29) is rotatably mounted on the fixed arc seat (27), the drive gear (30) is fixedly mounted on the drive gear shaft (29), the output end of the sliding arc drive motor (28) is fitted on the drive gear shaft (29), the drive gear (30) is fitted with the arc tooth (34), the arc tooth (34) is fixedly mounted on the sliding arc (33), the sliding clamp (5) is fixedly mounted on the sliding arc (33), the inner side of the arc sliding groove (31) is provided with a sliding clamp groove (32), and the sliding clamp (5) is slidably mounted in the sliding clamp groove (32).

5. The dual-robot laser positioning welding device according to claim 4, characterized in that, The sliding clamp (5) includes: a sliding clamp seat (35), a sliding clamp plate (37), a fixed clamp plate (38), and a fixed threaded rod (36). The sliding clamp seat (35) is fixedly disposed on the sliding arc (33). A clamp plate groove (39) is provided on the sliding clamp seat (35). The sliding clamp plate (37) is slidably disposed in the clamp plate groove (39). The fixed clamp plate (38) is fixedly disposed in the clamp plate groove (39). The fixed threaded rod (36) passes through the fixed clamp plate (38) and the sliding clamp seat (35). The sliding clamp plate (37) and the fixed threaded rod (36) are configured to cooperate with each other.

6. The dual-robot laser positioning welding device according to claim 4, characterized in that, A control panel (7) is fixedly installed on the control base (6), and the control panel (7) is electrically connected to the drive motor (11), the laser positioning welding robot arm (2), and the arc sliding drive motor (28).

Images