A mechanical hand clamping force degree debugging auxiliary device for laser welding

Abstract

The utility model belongs to laser welding technical field, concretely relates to a kind of laser welding mechanical hand clamping force debugging auxiliary device, including base, the upper surface middle part of base and the bottom surface of placing frame are overlapped, the upper surface of placing frame and the bottom surface of analog workpiece are overlapped, the left and right side of analog workpiece respectively with the opposite surface of two clamps of mechanical hand are overlapped, the opposite surface of two clamps of mechanical hand still respectively with the opposite end contact of two pressure sensors.The utility model is to different workpiece realization to the accurate debugging of mechanical hand clamping force, it is converted into accurate data-based debugging from fuzzy experience debugging, significantly improve the debugging accuracy and consistency, and reduce the scrap of welding workpiece, fixture damage and resource waste caused by improper debugging.

Description

Technical Field

[0001] This utility model belongs to the field of laser welding technology, specifically relating to an auxiliary device for adjusting the clamping force of a robotic arm used in laser welding. Background Technology

[0002] In automated laser welding processes, industrial robots are typically equipped with grippers to grasp and position the workpieces to be welded. Clamping force is one of the key parameters affecting welding quality. Insufficient force can cause the workpiece to shift or vibrate during welding, resulting in defects such as misaligned welds or incomplete welds; excessive force may damage the workpiece surface, especially for workpieces with high surface quality requirements or softer materials (such as aluminum alloys or precision-machined parts), and may even cause workpiece deformation, affecting the final assembly accuracy.

[0003] Currently, adjusting the gripping force of robotic arms mainly relies on the operator's experience. A common method is a "trial welding-observation-adjustment" cycle: the operator presets a gripping force parameter based on experience, performs a trial weld, then observes the weld quality or checks for workpiece damage, before returning to the program to readjust the force value. This method has the following significant drawbacks:

[0004] 1. Low efficiency: Requires a repeated trial and error process, resulting in a long debugging cycle; 2. Poor accuracy: Heavily reliant on personal experience, making it difficult to quantify the optimal clamping force, and causing significant differences in debugging results among different operators; 3. High cost: The trial and error process may cause workpiece scrap, fixture wear, or even equipment damage; 4. Poor safety: Over-adjusted, high-force clamping poses a risk of damaging expensive workpieces or the fixture itself. Utility Model Content

[0005] The purpose of this invention is to provide an auxiliary device for adjusting the clamping force of a robotic arm used for laser welding. This device can accurately adjust the clamping force of the robotic arm for different workpieces, transforming vague experience-based adjustments into precise data-driven adjustments. This significantly improves the accuracy and consistency of adjustments and reduces the scrapping of welded workpieces, damage to fixtures, and waste of resources caused by improper adjustments.

[0006] The specific technical solution adopted by this utility model is as follows:

[0007] A laser welding robotic arm clamping force adjustment auxiliary device includes a base, the upper surface of which overlaps with the bottom surface of a placement frame, the upper surface of which overlaps with the bottom surface of a simulated workpiece, the left and right sides of which overlap with the opposite surfaces of two clamping plates of the robotic arm, and the opposite surfaces of the two clamping plates of the robotic arm also contact the opposite ends of two pressure sensors.

[0008] The upper end of the right clamping plate of the robotic arm overlaps with the opposite surfaces of the two connecting plates, and the left side of the left connecting plate is fixedly connected to the laser rangefinder.

[0009] Furthermore, the opposite ends of the two pressure sensors are respectively fixedly connected to the opposite sides of the two fixing plates.

[0010] Furthermore, each fixed plate 2 is fixedly connected to one end of two electric push rods 3, and the other end of each of the four electric push rods 3 is fixedly connected to the side of the fixed plate 3.

[0011] Furthermore, the upper and lower ends of the fixing plate three are respectively fixedly connected to the upper and lower inner sides of the placement frame.

[0012] Furthermore, the three electric push rods on the left and right sides are respectively fitted into two slots, which are respectively opened on the left and right sides of the placement frame.

[0013] Furthermore, the upper surface of the simulated workpiece overlaps with the bottom surface of the pressure plate.

[0014] Furthermore, the front and rear ends of the bottom of the pressure plate are respectively fixedly connected to the upper ends of the two electric push rods, and the bottom ends of the two electric push rods are fixedly connected to the upper surface of the placement frame.

[0015] Furthermore, the front and rear sides of the placement frame are fixedly connected to the front and rear sides of the bottom end of the second fixing frame, and the middle part of the upper surface of the second fixing frame is fixedly connected to the bottom end of the tension gauge.

[0016] Furthermore, the upper end of the tension gauge is fixedly connected to the middle of the bottom surface of the fixing plate, the front and rear ends of the upper surface of the fixing plate are respectively fixedly connected to the bottom ends of two electric push rods, the upper ends of the two electric push rods are fixedly connected to the upper end of the fixing frame, and the bottom end of the fixing frame is fixedly connected to the upper surface of the base.

[0017] Furthermore, each of the connecting plates has sleeve holes at both the front and rear ends, and the two corresponding sleeve holes on the left and right sides are fitted with the same bolt, and the right ends of the two bolts are threadedly connected to two nuts respectively.

[0018] The technical effects achieved by this utility model are as follows:

[0019] This invention features fixed plates and pressure sensors on both sides of the placement frame. When adjusting the gripping force of the robotic arm, the user places a simulated workpiece of the same material and shape as the workpiece on the placement frame and adjusts the position of the pressure sensors on both sides using the extension and retraction of the electric push rod. This ensures that the two pressure sensors contact the clamping plates on both sides of the robotic arm. During the continuous application of gripping force by the robotic arm, the user can control the retraction of the electric push rod to apply an upward pulling force to the fixed plate, placement frame, and simulated workpiece. This allows the user to determine the minimum gripping force required for the workpiece to remain stable during welding. If the pressure sensor values ​​change during the continuous application of gripping force, it indicates that the gripping force applied by the robotic arm is causing deformation of the simulated workpiece. At this point, the maximum gripping force that the workpiece can withstand can be tested. This allows for precise adjustment of the gripping force of the robotic arm for different workpieces, transforming fuzzy experience-based adjustments into precise data-driven adjustments. This significantly improves the accuracy and consistency of adjustments and reduces the scrapping of welded workpieces, damage to fixtures, and waste of resources caused by improper adjustments. Attached Figure Description

[0020] Figure 1 This is a front view structural diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the connecting plate in this utility model;

[0022] Figure 3 This is a structural schematic diagram of the fixing frame one in this utility model;

[0023] Figure 4 This is a structural schematic diagram of the fixing frame two in this utility model;

[0024] Figure 5 This is a schematic diagram of the placement frame in this utility model.

[0025] The attached diagram lists the components represented by each number as follows:

[0026] 1. Base; 2. Fixing frame one; 3. Placement frame; 4. Simulated workpiece; 5. Tensile gauge; 6. Electric push rod one; 7. Robot arm; 8. Connecting plate; 9. Fixing frame two; 10. Laser rangefinder; 11. Bolt; 12. Sleeve hole; 13. Nut; 14. Fixing plate one; 15. Electric push rod two; 16. Fixing plate two; 17. Pressure sensor; 18. Pressure plate; 19. Groove; 20. Fixing plate three; 21. Electric push rod three. Detailed Implementation

[0027] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0028] like Figure 1-5 As shown, an auxiliary device for adjusting the clamping force of a laser welding robot includes a base 1. The upper surface of the base 1 overlaps with the bottom surface of a placement frame 3. The upper surface of the placement frame 3 overlaps with the bottom surface of a simulated workpiece 4. The left and right sides of the simulated workpiece 4 overlap with the opposite surfaces of the two clamping plates of the robot 7. The opposite surfaces of the two clamping plates of the robot 7 also contact the opposite ends of two pressure sensors 17. During testing, the electric push rod 21 is controlled to extend and retract, so that the opposite ends of the two pressure sensors 17 move to the same plane as the left and right sides of the simulated workpiece 4. Then, the clamping plates of the robot 7 are controlled to move closer to each other and contact the left and right sides of the simulated workpiece 4 and the two pressure sensors 17 respectively. When the workpiece is not deformed, the clamping plates of the robot 7 and the pressure sensors 17 always maintain the same contact state. At this time, the pressure sensors 17 generate a stable value. If the value of the pressure sensors 17 changes, it indicates that the clamping force applied by the robot 7 causes the simulated workpiece 4 to deform. At this time, the maximum clamping force that the workpiece can withstand can be tested.

[0029] The upper end of the right clamping plate of the robot arm 7 overlaps with the opposite surfaces of the two connecting plates 8. The left side of the left connecting plate 8 is fixedly connected to the laser rangefinder 10. The laser rangefinder 10 is connected to one side clamping plate of the robot arm 7 by setting the connecting plate 8, bolt 11, and nut 13. When the robot arm 7 clamps the simulated workpiece 4, the laser rangefinder 10 can be used to measure the original size of the simulated workpiece 4. When the pressure sensor 17 detects that the simulated workpiece 4 has deformed, the laser rangefinder 10 can be used to measure the size of the simulated workpiece 4 again to determine the amount of deformation of the simulated workpiece 4 under the clamping force at this time.

[0030] The opposite ends of the two pressure sensors 17 are fixedly connected to the opposite sides of the two fixed plates 16, respectively.

[0031] Each fixed plate 216 is fixedly connected to one end of two electric push rods 321, and the other end of the four electric push rods 321 is fixedly connected to the side of the fixed plate 320. By setting the electric push rods 321 to be connected to the fixed plate 216, the position of the pressure sensors 17 on both sides can be adjusted by the extension and retraction of the electric push rods 321 when using this device, so as to adapt to simulation parts of different sizes and specifications.

[0032] The upper and lower ends of the fixing plate 320 are fixedly connected to the upper and lower inner sides of the placement frame 3, respectively.

[0033] The electric push rods 321 on the left and right sides are respectively fitted into the two slots 19, which are respectively opened on the left and right sides of the placement frame 3.

[0034] The upper surface of the simulated workpiece 4 overlaps with the bottom surface of the pressure plate 18.

[0035] The front and rear ends of the bottom of the pressure plate 18 are fixedly connected to the upper ends of the two electric push rods 15 respectively. The bottom ends of the two electric push rods 15 are fixedly connected to the upper surface of the placement frame 3. When the simulated workpiece 4 is placed on the placement frame 3, the electric push rods 15 can be controlled to retract and drive the pressure plate 18 to descend, so that the pressure plate 18 applies a downward pulling force to the simulated workpiece 4, thereby making the simulated workpiece 4 and the placement frame 3 maintain a stable connection.

[0036] The front and rear sides of the placement frame 3 are fixedly connected to the front and rear sides of the bottom end of the fixing frame 2 9, respectively, and the middle of the upper surface of the fixing frame 2 9 is fixedly connected to the bottom end of the tension gauge 5.

[0037] The upper end of the tension gauge 5 is fixedly connected to the middle of the bottom surface of the fixing plate 14. The front and rear ends of the upper surface of the fixing plate 14 are fixedly connected to the bottom ends of the two electric push rods 6 respectively. The upper ends of the two electric push rods 6 are fixedly connected to the upper end of the fixing frame 2. The bottom end of the fixing frame 2 is fixedly connected to the upper surface of the base 1.

[0038] Each connecting plate 8 has a sleeve hole 12 at both the front and rear ends. The two corresponding sleeve holes 12 on the left and right sides are fitted with the same bolt 11. The right ends of the two bolts 11 are threadedly connected to two nuts 13 respectively.

[0039] The working principle of this utility model is as follows: When using this device to adjust the clamping force of the robot arm 7 by using the simulated workpiece 4, the user can place the simulated workpiece 4, which has the same shape and material as the welding workpiece, in the middle of the placement frame 3. Then, control the electric push rod 2 15 to retract so that the pressure plate 18 drops to clamp and fix the simulated workpiece 4. And control the electric push rod 3 21 to extend and retract so that the opposite ends of the pressure sensors 17 on both sides move to the same plane as the left and right sides of the simulated workpiece 4. At this time, control the clamping plates on both sides of the robot arm 7 to approach each other and contact the left and right sides of the simulated workpiece 4 and the two pressure sensors 17 respectively. At this time, the pressure sensors 17 generate a stable value.

[0040] During the process of continuously applying clamping force to the simulated workpiece 4 using the robotic arm 7, the clamping force of the robotic arm 7 on the simulated workpiece 4 can be continuously adjusted. During the adjustment of the clamping force, the electric push rod 6 can be controlled to retract and apply an upward pulling force to the fixing frame 9, the placement frame 3 and the simulated workpiece 4 to simulate the pressure on the workpiece during the welding process. During this process, the tension gauge 5 is used to detect the tension on the simulated workpiece 4 to determine the minimum clamping force required for the workpiece to remain stable during the welding process. If the value of the pressure sensor 17 changes during the continuous application of clamping force by the robotic arm 7, it indicates that the clamping force applied by the robotic arm 7 causes the simulated workpiece 4 to deform. At this time, the maximum clamping force that the workpiece can withstand can be tested.

[0041] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. A mechanical gripping force adjustment auxiliary device for laser welding, comprising a base (1), characterized in that: The upper surface of the base (1) overlaps with the bottom surface of the placement frame (3), the upper surface of the placement frame (3) overlaps with the bottom surface of the simulated workpiece (4), the left and right sides of the simulated workpiece (4) overlap with the opposite surfaces of the two clamping plates of the robot (7), and the opposite surfaces of the two clamping plates of the robot (7) also contact the opposite ends of the two pressure sensors (17). The upper end of the right clamp of the robotic arm (7) simultaneously overlaps with the opposite surfaces of the two connecting plates (8), and the left side of the connecting plate (8) on the left side is fixedly connected to the laser rangefinder (10).

2. The laser welding robotic arm (7) clamping force adjustment auxiliary device according to claim 1, characterized in that: The opposite ends of the two pressure sensors (17) are fixedly connected to the opposite sides of the two fixing plates (16).

3. The laser welding robotic arm (7) clamping force adjustment auxiliary device according to claim 2, characterized in that: Each fixed plate 2 (16) is fixedly connected to one end of two electric push rods 3 (21), and the other end of each of the four electric push rods 3 (21) is fixedly connected to the side of the fixed plate 3 (20).

4. The laser welding robotic arm (7) clamping force adjustment auxiliary device according to claim 3, characterized in that: The upper and lower ends of the fixing plate three (20) are respectively fixedly connected to the upper and lower inner sides of the placement frame (3).

5. The laser welding robotic arm (7) clamping force adjustment auxiliary device according to claim 3, characterized in that: The electric push rods (21) on the left and right sides are respectively fitted into two slots (19), and the two slots (19) are respectively opened on the left and right sides of the placement frame (3).

6. The auxiliary device for adjusting the clamping force of a laser welding robot (7) according to claim 1, characterized in that: The upper surface of the simulated workpiece (4) overlaps with the bottom surface of the pressure plate (18).

7. The laser welding robotic arm (7) clamping force adjustment auxiliary device according to claim 6, characterized in that: The front and rear ends of the bottom of the pressure plate (18) are fixedly connected to the upper ends of the two electric push rods (15), and the bottom ends of the two electric push rods (15) are fixedly connected to the upper surface of the placement frame (3).

8. The auxiliary device for adjusting the clamping force of a laser welding robot (7) according to claim 7, characterized in that: The front and rear sides of the placement frame (3) are fixedly connected to the front and rear sides of the bottom end of the fixing frame two (9), respectively, and the middle part of the upper surface of the fixing frame two (9) is fixedly connected to the bottom end of the tension gauge (5).

9. The auxiliary device for adjusting the clamping force of a robotic arm (7) for laser welding according to claim 8, characterized in that: The upper end of the tension gauge (5) is fixedly connected to the middle of the bottom surface of the fixing plate (14). The front and rear ends of the upper surface of the fixing plate (14) are fixedly connected to the bottom ends of the two electric push rods (6). The upper ends of the two electric push rods (6) are fixedly connected to the upper end of the fixing frame (2). The bottom end of the fixing frame (2) is fixedly connected to the upper surface of the base (1).

10. The auxiliary device for adjusting the clamping force of a laser welding robot (7) according to claim 1, characterized in that: Each of the connecting plates (8) has a sleeve hole (12) at both the front and rear ends. The two sleeve holes (12) corresponding to the left and right sides are sleeved with the same bolt (11). The right ends of the two bolts (11) are threadedly connected to two nuts (13).

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