Flexible welding robot clamping tool

Abstract

The utility model discloses a kind of clamping tool for flexible welding robot, it is related to clamping processing technical field, including rotatable rotating seat, two opposite moving clamping blocks are slidably arranged on the rotating seat, the side of each clamping block opposite to each other is arrayed with several slide holes, a top rod is slidably arranged in each slide hole, the middle section of each slide hole is provided with locking cavity, two locking blocks in the locking cavity are slidably arranged, and the center axis of slide hole is used as reference to be relatively moved by magnetic force control, the side of two locking blocks opposite to each other is provided with locking groove for clamping and fixing top rod. The end of each slide hole is provided with adjusting cavity, the adjusting cavity is communicated with slide hole, the inner diameter of adjusting cavity is greater than the inner diameter of slide hole, one end of the top rod in adjusting cavity is fixedly connected with top plate, the side of the top plate away from top rod is abutted with spring, and the device has the characteristics of improving the clamping efficiency and stability of workpiece.

Description

Technical Field

[0001] This utility model relates to the field of clamping and processing technology, specifically to a clamping fixture for a flexible welding robot. Background Technology

[0002] With the rapid development of modern industrial technology, the welding structure manufacturing industry is gradually moving towards large-scale, high-volume, parameterized, and precision manufacturing. This trend places higher demands on the efficiency, quality, and flexibility of welding processes. Traditional welding methods rely on manual operation, which is not only inefficient but also makes it difficult to guarantee the consistency and high precision of welding quality. The limitations of manual welding become increasingly apparent, especially when facing welding tasks involving complex structures, large-scale movements, and high precision requirements. In recent years, the introduction of welding robot technology has improved the automation level of welding operations to some extent. Welding robot technology aims to use flexible rotary platforms equipped with flexible fixtures to support welding operations on various workpieces, enhancing the system's adaptability and flexibility, and achieving flexible production.

[0003] Existing flexible clamps have multiple movable shaping rods inside. The shaping rods are connected to the clamp housing by elastic connectors. When the clamp approaches an irregular workpiece, the shaping rods can be fully released from the workpiece under the action of the elastic connection, which facilitates stable clamping of the workpiece.

[0004] Meanwhile, existing technologies mostly use "single-sided friction plates", "wedge clamping" or "single-segment circumferential clamping" methods, and the locking force is discontinuous along the circumference of the push rod. Under the impact load of milling and drilling, the push rod is prone to axial slippage of 5-30 µm, which leads to drift of the positioning reference and out-of-tolerance machining dimensions. At the same time, the solidification mechanism is mostly unidirectional locking. After the clamp is loosened, the push rod is still "stuck" by the residual friction force. It must be purged with compressed air or manually knocked to spring back, which delays the cycle by 10-20 seconds and makes it impossible to achieve unmanned cycle.

[0005] Therefore, it is necessary to design a flexible clamping fixture for welding robots that improves the efficiency and stability of workpiece clamping. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a clamping fixture for flexible welding robots, thereby solving the problems mentioned in the background section.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a clamping fixture for a flexible welding robot, including a rotatable rotating base, two relatively movable clamping blocks are slidably arranged on the upper side of the rotating base, each clamping block has a plurality of sliding holes arrayed on its opposite side, a push rod is slidably arranged in each sliding hole, a locking cavity is formed in the middle section of each sliding hole, and two locking blocks that move relative to each other by magnetic control are slidably arranged in the locking cavity, with the central axis of the sliding hole as the reference. A locking groove for clamping and fixing the push rod is formed on the opposite side of each of the two locking blocks.

[0008] The present invention further describes that each of the sliding holes has an adjustment cavity at its end, the adjustment cavity is connected to the sliding hole, the inner diameter of the adjustment cavity is larger than the inner diameter of the sliding hole, the top rod is fixedly connected to a top plate at one end of the adjustment cavity, a spring is abutted on the side of the top plate away from the top rod, and the end of the spring away from the top plate abuts against the inner wall of the end of the adjustment cavity away from the sliding hole.

[0009] The present invention further explains that the inner diameter of the locking groove is the same as the inner diameter of the sliding hole, and the length of the locking groove along the radial direction of the sliding hole is less than the diameter of the sliding hole.

[0010] The present invention further explains that a first electromagnet is embedded on one side of each of the two locking blocks that are opposite to each other, a second electromagnet is embedded on one side of each of the two locking blocks that are opposite to each other, and a third electromagnet is embedded in the inner wall of the locking cavity corresponding to the second electromagnet.

[0011] The present invention further describes that the outer circumference of the middle part of the top rod is provided with rough anti-slip texture, the length of the anti-slip texture along the top rod is greater than the length of the locking cavity, and the inner wall of the locking groove is provided with a number of micro-point protrusions.

[0012] The present invention further describes that a base is provided on the lower side of the rotating seat, a turntable is rotatably connected to the upper side of the base, and the rotating seat is fixedly connected to the upper side of the turntable.

[0013] This utility model further illustrates that, each of the clamping blocks is fixedly connected to a fixing block on both sides along its length, and a guide rod is provided on the rotating base corresponding to the fixing block. The guide rod passes through the fixing block, and the fixing block is slidably connected to the guide rod. Each end of the guide rod along its axial direction is fixedly connected to a connecting block, and the connecting block is fixedly connected to the rotating base. Two hydraulic telescopic cylinders are provided on the opposite sides of the two clamping blocks. The fixed end of the hydraulic telescopic cylinder is fixedly connected to the rotating base, and the output end of the hydraulic telescopic cylinder is fixedly connected to the clamping block.

[0014] Compared with the prior art, the beneficial effects achieved by this utility model are: by setting up an array of top rods and using springs for pressing, this utility model can fit any complex curved surface in real time without the need for customized special fixtures, thus improving the applicability of workpiece clamping.

[0015] The spring provides a flexible preload, and after the locking block is locked, the top rod is clamped and fixed by an electromagnet, realizing the switching between "flexible conforming and rigid locking" to avoid workpiece springback or creep deformation caused by continuous elastic stress.

[0016] By setting an electromagnet to control the opening and closing of the locking block, the response time is reduced, making it faster than traditional hydraulic locking, thereby improving the clamping efficiency of the workpiece. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate 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, but do not constitute a limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a side sectional view of the clamping block of this utility model;

[0020] Figure 3 This is a cross-sectional schematic diagram of the clamping block structure of this utility model;

[0021] Figure 4 This is a disassembled schematic diagram of the top rod and related structures of this utility model;

[0022] In the diagram: 1. Rotary seat; 2. Base; 3. Turntable; 4. Clamping block; 5. Sliding hole; 6. Top rod; 7. Locking cavity; 8. Adjusting cavity; 9. Locking block; 10. Locking groove; 11. First electromagnet; 12. Second electromagnet; 13. Third electromagnet; 14. Top plate; 15. Spring; 16. Fixing block; 17. Guide rod; 18. Connecting block; 19. Hydraulic telescopic cylinder. Detailed Implementation

[0023] The following detailed, non-limiting description of the present invention, in conjunction with preferred embodiments and accompanying drawings, is provided. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0024] Please see Figure 1-4The present invention provides a technical solution: a clamping fixture for a flexible welding robot, including a rotating base 1, a base 2 on the lower side of the rotating base 1, a turntable 3 rotatably connected to the upper side of the base 2, the rotating base 1 being fixedly connected to the upper side of the turntable 3, and a drive motor being provided in the middle of the base 2, which drives the turntable 3 to rotate the rotating base 1.

[0025] Two relatively movable clamping blocks 4 are slidably arranged on the upper side of the rotating base 1. Each clamping block 4 has several sliding holes 5 arranged on its opposite side. A top rod 6 is slidably arranged in each sliding hole 5.

[0026] Each sliding hole 5 has a locking cavity 7 in the middle section. The locking cavity 7 has a rectangular cross-sectional shape and is connected to the sliding hole 5. Each sliding hole 5 has an adjustment cavity 8 at its end. The adjustment cavity 8 is connected to the sliding hole 5 and its inner diameter is larger than that of the sliding hole 5.

[0027] Two locking blocks 9 are slidably arranged inside the locking cavity 7. The two locking blocks 9 are symmetrically arranged with the central axis of the sliding hole 5 as the reference. The two locking blocks 9 slide relative to each other with the central axis of the sliding hole 5 as the reference. A locking groove 10 is provided on one side of each locking block 9. The cross-sectional shape of the locking groove 10 is arc-shaped. The inner diameter of the locking groove 10 is the same as the inner diameter of the sliding hole 5. The length of the locking groove 10 in the radial direction of the sliding hole 5 is less than the diameter of the sliding hole 5.

[0028] Each of the two locking blocks 9 has a first electromagnet 11 embedded on one of its opposing sides. When the two first electromagnets 11 are energized, they are magnetically connected, which brings the two locking blocks 9 closer together and makes them fit together, thereby clamping and fixing the top rod 6 with the locking groove 10.

[0029] Each of the two locking blocks 9 has a second electromagnet 12 embedded on one side opposite to each other. The inner wall of the locking cavity 7 has a third electromagnet 13 embedded in the second electromagnet 12. At this time, the two first electromagnets 11 are not energized. After the second electromagnets 12 and the third electromagnets 13 are energized, the second electromagnets 12 and the third electromagnets 13 are magnetically connected, thereby separating the two locking blocks 9, and the push rod 6 can slide freely.

[0030] The top rod 6 is fixedly connected to a top plate 14 at one end of the adjusting cavity 8. The cross-sectional shape of the top plate 14 is a circle that matches the cross-section of the adjusting cavity 8. The top plate 14 slides along the axial direction of the adjusting cavity 8. A spring 15 is abutted on the side of the top plate 14 away from the top rod 6. The end of the spring 15 away from the top plate 14 abuts against the inner wall of the end of the adjusting cavity 8 away from the sliding hole 5.

[0031] The outer circumference of the middle part of the push rod 6 is provided with several raised anti-slip patterns, and the length of the anti-slip patterns along the push rod 6 is less than the length of the locking cavity 7.

[0032] The inner wall of the locking groove 10 is provided with several micro-protrusions. When the locking block 9 clamps the top rod 6, the micro-protrusions press against the anti-slip texture, improving the locking effect of the locking block 9 on the top rod 6.

[0033] Both sides of the clamping block 4 are fixedly connected to the fixing blocks 16 along the length direction. The rotating base 1 is provided with guide rods 17 corresponding to the fixing blocks 16. The guide rods 17 pass through the fixing blocks 16, and the fixing blocks 16 and the guide rods 17 are slidably connected.

[0034] Both ends of the guide rod 17 along the axial direction are fixedly connected to the connecting block 18, and the connecting block 18 is fixedly connected to the rotating base 1.

[0035] Two hydraulic telescopic cylinders 19 are provided on the opposite sides of the two clamping blocks 4. The fixed ends of the two hydraulic telescopic cylinders 19 are fixedly connected to the rotating seat 1, and the output ends of the two hydraulic telescopic cylinders 19 are fixedly connected to the clamping blocks 4. The two clamping blocks 4 are controlled to move relative to each other along the guide rail by the hydraulic telescopic cylinders 19.

[0036] In this embodiment, the workpiece is placed on the turntable 1 and located between two clamping blocks 4. By controlling the output end of the hydraulic telescopic cylinder 19 to extend, the two clamping blocks 4 move along the axial direction of the guide rail and move closer to each other to clamp the workpiece.

[0037] Each push rod 6 on the two clamping blocks 4 is in direct contact with the workpiece under the elastic action of the spring 15. At the same time, according to the shape of the workpiece, the push rod 6 is squeezed to different degrees and moves along the sliding hole 5 towards the side closer to the adjustment cavity 8. Meanwhile, the spring 15 is passively compressed.

[0038] Once the clamped side of the workpiece is in complete contact with the corresponding push rod 6, the output end of the hydraulic telescopic cylinder 19 stops moving. At the same time, the first electromagnet 11 is energized, and the two first electromagnets 11 attract each other and complete the magnetic connection, causing the two locking blocks 9 to move closer to each other. Finally, the two locking grooves 10 are pressed into contact with the outer wall of the push rod 6, thereby completing the clamping and fixing of the push rod 6. This ensures that the push rod 6 fixes the workpiece and will not move during the workpiece processing.

[0039] After the workpiece is processed, the output end of the hydraulic telescopic cylinder 19 is retracted again, so that the two clamping blocks 4 move away from each other along the axis of the guide rail. After the workpiece is taken out, the energization of the first electromagnet 11 is canceled, and the second electromagnet 12 and the third electromagnet 13 are energized, so that the two locking blocks 9 move away from each other, the locking groove 10 does not contact the outer wall of the push rod 6, and the push rod 6 is pushed out and reset under the elastic action of the spring 15.

[0040] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A clamping fixture for a flexible welding robot, characterized in that: The device includes a rotatable rotating base (1), on which two relatively movable clamping blocks (4) are slidably arranged on the upper side. Each clamping block (4) has several sliding holes (5) arranged on its opposite side. Each sliding hole (5) has a push rod (6) slidably arranged in its inner section. Each sliding hole (5) has a locking cavity (7) in its middle section. Two locking blocks (9) are slidably arranged in the locking cavity (7) and move relative to each other by magnetic control with the central axis of the sliding hole (5) as the reference. Each locking block (9) has a locking groove (10) on its opposite side for clamping and fixing the push rod (6).

2. The clamping fixture for a flexible welding robot according to claim 1, characterized in that: Each of the sliding holes (5) has an adjustment cavity (8) at its end. The adjustment cavity (8) is connected to the sliding hole (5). The inner diameter of the adjustment cavity (8) is larger than the inner diameter of the sliding hole (5). The top rod (6) is fixedly connected to a top plate (14) at one end of the adjustment cavity (8). A spring (15) is abutted on the side of the top plate (14) away from the top rod (6). The end of the spring (15) away from the top plate (14) abuts against the inner wall of the end of the adjustment cavity (8) away from the sliding hole (5).

3. The clamping fixture for a flexible welding robot according to claim 2, characterized in that: The inner diameter of the locking groove (10) is the same as the inner diameter of the sliding hole (5), and the length of the locking groove (10) in the radial direction of the sliding hole (5) is less than the diameter of the sliding hole (5).

4. The clamping fixture for a flexible welding robot according to claim 3, characterized in that: The two locking blocks (9) are each equipped with a first electromagnet (11) on one side opposite to each other, and a second electromagnet (12) is each equipped with a second electromagnet on one side away from each other. The inner wall of the locking cavity (7) is equipped with a third electromagnet (13) corresponding to the second electromagnet (12).

5. The clamping fixture for a flexible welding robot according to claim 4, characterized in that: The outer circumference of the top rod (6) is provided with rough anti-slip texture. The length of the anti-slip texture along the top rod (6) is greater than the length of the locking cavity (7). The inner wall of the locking groove (10) is provided with several micro-point protrusions.

6. The clamping fixture for a flexible welding robot according to claim 5, characterized in that: The rotating base (1) is provided with a base (2) on its lower side, and a turntable (3) is rotatably connected to the upper side of the base (2). The rotating base (1) is fixedly connected to the upper side of the turntable (3).

7. The clamping fixture for a flexible welding robot according to claim 6, characterized in that: The clamping block (4) is fixedly connected to two fixed blocks (16) on both sides along the length direction. The rotating seat (1) is provided with a guide rod (17) corresponding to the fixed block (16). The guide rod (17) passes through the fixed block (16). The fixed block (16) and the guide rod (17) are slidably connected. The two ends of the guide rod (17) along the axial direction are fixedly connected to a connecting block (18). The connecting block (18) is fixedly connected to the rotating seat (1). Two hydraulic telescopic cylinders (19) are provided on the opposite sides of the two clamping blocks (4). The fixed end of the hydraulic telescopic cylinder (19) is fixedly connected to the rotating seat (1). The output end of the hydraulic telescopic cylinder (19) is fixedly connected to the clamping block (4).

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