Robotic welding apparatus with sensor

Abstract

The application discloses a sensor mechanical hand welding equipment, and belongs to the technical field of welding. The equipment comprises a mechanical hand, a control device, a welding tool and a welding gun assembly. The control device, the welding tool and the welding gun assembly are arranged around the outer periphery of the mechanical hand. The welding tool comprises a base. One end of the top surface of the base is provided with a main frame. A moving track is arranged on the top surface of the base and is arranged close to the main frame. A moving bracket and a moving sub-frame are respectively arranged on the moving track. A sensor shell is arranged on the moving bracket. An installation disc is arranged on the main frame. A top piece is arranged on the moving sub-frame. The top piece is arranged opposite to the installation disc and coaxially with the installation disc. The two ends of a sensor supporting pipe are respectively installed on the installation disc and the top piece. The welding tool is specially designed to realize high-precision positioning and fixing and adapt to sensors of different sizes. The automation welding system is used to improve the efficiency and quality and reduce the interference of human factors.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to a sensor-based robotic welding device. Background Technology

[0002] Sensors, as devices that convert physical or chemical quantities into measurable signals, are widely used in modern industry, medicine, automotive, aerospace, and other fields. With the continuous development of sensor technology, their structures and functions are becoming increasingly complex, placing higher demands on sensor manufacturing processes, especially welding processes. Welding is a critical step in sensor manufacturing; it not only affects the structural integrity and stability of the sensor but also directly relates to its performance and reliability.

[0003] Traditional manual welding relies on the skills and experience of operators, making it difficult to guarantee the precision and consistency of the welds. Subsequently, many automated welding devices have emerged on the market. Relevant existing technologies include Chinese patent application "A Welding Equipment for Sensor Processing," application number CN202111609292.5, which discloses a device including a main sensor fixing device, a secondary sensor fixing device, a bracket, a welding adjustment device, a closing drive device, a welding auxiliary device, a welding equipment, a concentricity detection device, and an equipment base. In use, the welding adjustment device is activated to adjust the main sensor fixing device, bringing it closer to the concentricity detection device. The concentricity detection device then detects the sensor connection on the main sensor fixing device. The closing drive device drives the main sensor fixing device and the secondary sensor fixing device to move towards each other, bringing the two sensor components into contact. At this time, the two welding auxiliary devices cooperate to drive the welding parts and connecting parts of the sensor synchronously. The welding equipment then completes the welding work, replacing manual operation and effectively solving the problem of sensor stability during rotation that cannot be guaranteed by manual operation.

[0004] While existing automated welding equipment on the market has improved welding efficiency and quality to some extent, most of these devices are designed for specific types or sizes of sensors. For sensors like the F-series, which have a special structure, such as… Figure 1 As shown, the sensor's support tube and housing need to be welded together using a specific connection method, making it difficult to find a perfectly matching welding device. Given that existing welding equipment cannot meet the welding requirements of the F-series sensors, a robotic welding device specifically designed for F-series sensors was developed. Utility Model Content

[0005] The technical problem to be solved by this application is to provide a robotic welding device for sensors, which achieves high-precision positioning and fixation through specially designed welding fixtures and can adapt to sensors of different sizes.

[0006] The technical solution adopted in this application is as follows: a robotic welding equipment for sensors, including a robotic arm, a control device, a welding fixture, and a welding gun assembly. The control device, welding fixture, and welding gun assembly surround the robotic arm. The welding fixture includes a base, a main frame is provided at one end of the top surface of the base, and a moving track is provided on the top surface of the base. The moving track is located adjacent to the main frame. A moving bracket and a moving sub-frame are respectively installed on the moving track. The sensor housing is mounted on the moving bracket. A mounting plate is provided on the main frame, and a top component is provided on the moving sub-frame. The top component and the mounting plate are arranged opposite to each other and are coaxially arranged. The two ends of the sensor support tube are respectively installed on the mounting plate and the top component.

[0007] Compared with existing technologies, the advantages of this application are as follows: First, the base, main frame, mounting plate, top piece, and moving track of the welding fixture enable precise fixing and positioning of the sensor support tube and the housing. The sensor support tube is mounted on the mounting plate and the top piece at both ends, with the top piece coaxial with the mounting plate. This structure ensures very high positional accuracy of the sensor during the welding process, avoiding positional deviations caused by human factors in traditional manual welding.

[0008] Secondly, this application specifically designs a welding fixture for the connection between the support tube and the housing of the F-series sensor. This fixture can quickly and easily secure the various components of the sensor, ensuring a smooth welding process. The movable bracket and movable sub-frame mounted on the moving track allow for adjustment of the installation position of the sensor housing and support tube, accommodating sensors of different sizes.

[0009] Finally, the entire welding process of this application is mainly completed collaboratively by a robotic arm, a control device, and welding fixtures. The control device can be pre-programmed with pre-set welding process parameters and operating procedures. The robotic arm automatically performs the welding operation according to these instructions, requiring minimal human intervention. This automated operation method greatly improves welding efficiency and reduces the time spent in manual welding due to frequent operator changes and adjustments to welding parameters.

[0010] In some embodiments of this application, the welding gun assembly includes a chassis and a plurality of welding guns, with a plurality of shelves arranged on the top surface of the chassis, and the welding guns placed on the shelves.

[0011] This design allows welding torches to be neatly stored on the racks within the chassis, facilitating management and maintenance. Multiple welding torches can be stored simultaneously, enabling quick switching between torches to meet different welding needs, thus improving the flexibility and efficiency of welding operations.

[0012] In some embodiments of this application, the output end of the robotic arm is provided with a mounting connector, which is detachably connected to the welding gun.

[0013] The detachable connection design allows the welding gun to be easily installed on the output end of the robot, facilitating the replacement of different types of welding guns to adapt to various welding tasks. This design improves the versatility and flexibility of the equipment, reducing downtime caused by welding gun damage or replacement.

[0014] In some embodiments of this application, the mounting plate is provided with a plurality of mounting holes, and a positioning plate is fitted onto one end of the sensor support tube. The positioning plate is provided with a corresponding positioning hole, and a pin is provided on the positioning hole. When the pin passes through the positioning hole and is inserted into the mounting hole, the positioning plate is locked on the mounting plate.

[0015] The sensor support tube can be quickly and accurately fixed by using the mounting holes and pins on the positioning plate and mounting plate. This structure not only improves the installation accuracy but also greatly simplifies the installation process, reduces installation time, and improves the efficiency of pre-welding preparation.

[0016] In some embodiments of this application, the positioning disk has three elongated slots arranged radially along the positioning disk, dividing the positioning disk into three equal parts, and a positioning hole is provided between two adjacent slots.

[0017] This design allows for quick determination of the positioning plate's angle, facilitating rapid installation with the mounting plate. The elongated slot and positioning holes enhance the positioning accuracy of the positioning plate, ensuring consistent angles of the sensor support tube during installation and further improving welding precision.

[0018] In some embodiments of this application, the movable subframe is provided with a locking element; when the locking element is unlocked, the movable subframe can move along the movable track under force; when the locking element is locked, the movable subframe is fixed relative to the movable track.

[0019] The locking mechanism allows the movable subframe to move along the track as needed to adjust the position of the sensor support tube. It also secures the position during welding, ensuring stability. This design enhances the flexibility and stability of the welding fixture, adapting to the welding of sensors of varying sizes and positions.

[0020] In some embodiments of this application, the top member includes a head end opposite to the main frame and a tail end away from the main frame. A cylinder is mounted on the movable subframe, and the output shaft of the cylinder is connected to the tail end of the top member. The operation of the output shaft drives the top member to move along the axial direction of the top member.

[0021] The cylinder-driven movement of the top component makes fixing and releasing the sensor support tube more convenient and faster. After the moving subframe is fixed, retracting the cylinder facilitates the installation of the sensor support tube, while ejecting the cylinder quickly secures the sensor support tube. This design improves the efficiency of pre-welding preparation and the stability during the welding process.

[0022] In some embodiments of this application, the head end of the top member is a conical structure, and the head end of the top member is inserted into the other end of the sensor support tube.

[0023] The conical top end of the component can be well aligned with the sensor support tube, ensuring the coaxiality of the sensor support tube during welding. This design improves welding accuracy and reduces welding defects such as uneven weld seams.

[0024] In some embodiments of this application, the movable bracket is provided with a locking element; when the locking element is unlocked, the movable bracket can move along the movable track under force; when the locking element is locked, the movable bracket is fixed relative to the movable track.

[0025] Similar to the locking mechanism on the movable subframe, the locking mechanism on the movable bracket allows the bracket to move along the track as needed to adjust the position of the sensor housing, while simultaneously maintaining its position during welding to ensure welding stability. This design enhances the flexibility and stability of the welding fixture, adapting to the welding of sensors of different sizes and positional requirements.

[0026] In some embodiments of this application, the movable bracket is provided with a slot for accommodating the sensor housing. The slot design allows the sensor housing to be quickly and accurately fixed to the movable bracket, improving installation efficiency and stability. This design reduces shaking of the sensor housing during welding, ensuring welding quality.

[0027] Based on common knowledge in the field, the above-described embodiments can be combined arbitrarily. Attached Figure Description

[0028] The present application will be described in further detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the present application. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated depictions, and the drawings are not necessarily drawn to scale.

[0029] Figure 1 It is an F-series sensor; Figure 2 This is a schematic diagram of the structure of this application. Figure 1 ; Figure 3 This is a schematic diagram of the structure of this application. Figure 2 ; Figure 4 This is a top view of this application; Figure 5 for Figure 4 A sectional view of section AA in the middle.

[0030] The specific explanations of the reference numerals in the attached drawings are as follows: 1. Robotic arm; 2. Control device; 3. Welding fixture; 5. Base; 6. Main frame; 7. Moving track; 8. Moving bracket; 9. Moving sub-frame; 10. Sensor housing; 11. Mounting plate; 12. Top piece; 13. Sensor support tube; 14. Chassis; 15. Welding gun; 16. Shelf; 18. Mounting hole; 19. Positioning plate; 20. Positioning hole; 21. Pin; 22. Narrow slot; 23. Cylinder; 24. Slot. Detailed Implementation

[0031] The present application will now be described in detail with reference to the accompanying drawings.

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] The robotic welding equipment for sensors, as shown in Example 1 Figures 2 to 5 As shown, the assembly includes a robotic arm 1, a control device 2, a welding fixture 3, and a welding gun assembly. The control device 2, welding fixture 3, and welding gun assembly surround the robotic arm 1. The welding fixture 3 includes a base 5, with a main frame 6 mounted on one end of the top surface of the base 5. A moving track 7 is mounted on the top surface of the base 5, adjacent to the main frame 6. A moving bracket 8 and a moving sub-frame 9 are respectively mounted on the moving track 7. The sensor housing 10 is mounted on the moving bracket 8. A mounting plate 11 is mounted on the main frame 6, and a top member 12 is mounted on the moving sub-frame 9. The top member 12 is positioned opposite to the mounting plate 11 and coaxially with it. The sensor support tube 13 is mounted on the mounting plate 11 and the top member 12 at both ends. Through the structure of the base 5, main frame 6, mounting plate 11, top member 12, and moving track 7 of the welding fixture 3, precise fixation and positioning of the sensor support tube 13 and the housing can be achieved. The sensor support tube 13 is mounted on the mounting plate 11 and the top piece 12 at both ends, and the top piece 12 is coaxially set with the mounting plate 11. This structure can ensure that the sensor has very high positional accuracy during the welding process, avoiding positional deviations caused by human factors in traditional manual welding.

[0034] The entire welding process of this application is mainly completed collaboratively by a robotic arm 1, a control device 2, and a welding fixture 3. The control device 2 can be pre-programmed with pre-set welding process parameters and operating procedures. The robotic arm 1 automatically performs the welding operation according to these instructions, requiring minimal human intervention. This automated operation method greatly improves welding efficiency and reduces the time spent in manual welding due to frequent operator changes and adjustments to welding parameters.

[0035] Example 2, as Figures 1 to 5 As shown, the welding gun assembly includes a housing 14 and multiple welding guns 15. Multiple shelves 16 are arranged on the top surface of the housing 14, and the welding guns 15 are placed on the shelves 16. This design allows the welding guns 15 to be neatly placed on the shelves 16 of the housing 14, facilitating management and maintenance. Multiple welding guns 15 can be placed simultaneously, allowing for quick replacement of welding guns 15 according to different welding needs, thus improving the flexibility and efficiency of welding operations.

[0036] The output end of the robotic arm 1 is equipped with a mounting connector, which is detachably connected to the welding gun 15. This detachable connection design allows the welding gun 15 to be easily installed onto the output end of the robotic arm 1, facilitating the replacement of different types of welding guns 15 to adapt to various welding tasks. This design improves the versatility and flexibility of the equipment, reducing downtime caused by damage to or replacement of the welding gun 15.

[0037] The mounting plate 11 has several mounting holes 18. A positioning plate 19 is fitted onto one end of the sensor support tube 13. The positioning plate 19 has corresponding positioning holes 20, and each positioning hole 20 is fitted with a pin 21. When the pin 21 passes through the positioning hole 20 and is inserted into the mounting hole 18, the positioning plate 19 is locked onto the mounting plate 11. Through the cooperation of the positioning plate 19, the mounting holes 18 on the mounting plate 11, and the pin 21, the sensor support tube 13 can be quickly and accurately fixed. This structure not only improves the installation accuracy but also greatly simplifies the installation process, reduces installation time, and improves the efficiency of pre-welding preparation.

[0038] The positioning disk 19 has three elongated slots 22, which are arranged radially along the disk 19, dividing it into three equal parts. A positioning hole 20 is provided between two adjacent slots. This design allows for quick determination of the angle of the positioning disk 19, facilitating rapid installation with the mounting disk 11. The elongated slots 22 and the positioning hole 20 improve the positioning accuracy of the positioning disk 19, ensure the angular consistency of the sensor support tube 13 during installation, and further improve the welding precision.

[0039] The movable subframe 9 is equipped with a locking element; when the locking element is unlocked, the movable subframe 9 can move along the movable track 7 under force; when the locking element is locked, the movable subframe 9 is fixed relative to the movable track 7. The locking element design allows the movable subframe 9 to move along the movable track 7 when needed to adjust the position of the sensor support tube 13, and also ensures stability during welding by fixing its position. This design improves the flexibility and stability of the welding fixture 3, adapting to the welding of sensors of different sizes and positions.

[0040] The top component 12 includes a head end opposite to the main frame 6 and a tail end away from the main frame 6. A cylinder 23 is mounted on the movable sub-frame, and the output shaft of the cylinder 23 is connected to the tail end of the top component 12. The operation of the output shaft drives the top component 12 to move along its axial direction. The design of the cylinder 23 driving the movement of the top component 12 makes the fixing and release of the sensor support tube 13 more convenient and quick. After the movable sub-frame 9 is fixed, the retraction of the cylinder 23 facilitates the installation of the sensor support tube 13, and the ejection of the cylinder 23 quickly fixes the sensor support tube 13. This design improves the efficiency of pre-welding preparation and the stability during the welding process.

[0041] The top end of the top member 12 has a conical structure, and the top end of the top member 12 is inserted into the other end of the sensor support tube 13. The conical structure of the top member 12 can be well aligned with the sensor support tube 13, ensuring the coaxiality of the sensor support tube 13 during the welding process. This design improves the welding accuracy and reduces welding defects, such as uneven weld seams.

[0042] The movable bracket 8 is equipped with a locking element; when the locking element is unlocked, the movable bracket 8 can move along the movable track 7 under force; when the locking element is locked, the movable bracket 8 is fixed relative to the movable track 7. Similar to the locking element on the movable sub-frame 9, the locking element design on the movable bracket 8 allows the movable bracket 8 to move along the movable track 7 when needed to adjust the position of the sensor housing 10, while also fixing its position during welding to ensure welding stability. This design improves the flexibility and stability of the welding fixture 3, adapting to the welding of sensors with different sizes and positional requirements.

[0043] The movable bracket 8 has a slot 24 for accommodating the sensor housing 10. The slot 24 allows the sensor housing 10 to be quickly and accurately fixed onto the movable bracket 8, improving installation efficiency and stability. This design also reduces shaking of the sensor housing 10 during welding, ensuring welding quality.

[0044] The rest of the contents of Example 2 are the same as those of Example 1.

[0045] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The descriptions of the embodiments above are only for the purpose of helping to understand the present application and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A robotic welding device for sensors, characterized in that, The assembly includes a robotic arm (1), a control device (2), a welding fixture (3), and a welding gun (15). The control device (2), welding fixture (3), and welding gun (15) are arranged around the outer periphery of the robotic arm (1). The welding fixture (3) includes a base (5). A main frame (6) is provided at one end of the top surface of the base (5). A moving track (7) is provided on the top surface of the base (5). The moving track (7) is located near the main frame (6). A moving bracket (8) and a moving sub-frame (9) are respectively installed on the moving track (7). The sensor housing (10) is mounted on the moving bracket (8). A mounting plate (11) is provided on the main frame (6). A top piece (12) is provided on the moving sub-frame (9). The top piece (12) is arranged opposite to the mounting plate (11). The top piece (12) and the mounting plate (11) are coaxially arranged. The two ends of the sensor support tube (13) are respectively installed on the mounting plate (11) and the top piece (12).

2. The robotic arm (1) welding equipment for sensors according to claim 1, characterized in that, The welding gun (15) assembly includes a chassis (14) and a plurality of welding guns (15). The top surface of the chassis (14) is provided with a plurality of shelves (16), and the welding guns (15) are placed on the shelves (16).

3. The robotic arm (1) welding equipment for sensors according to claim 1, characterized in that, The output end of the robotic arm (1) is provided with a mounting connector, which is detachably connected to the welding gun (15).

4. The robotic arm (1) welding equipment for sensors according to claim 1, characterized in that, The mounting plate (11) is provided with a number of mounting holes (18), and a positioning plate (19) is fitted on one end of the sensor support tube (13). The positioning plate (19) is provided with a positioning hole (20), and a pin (21) is provided on the positioning hole (20). When the pin (21) passes through the positioning hole (20) and is inserted into the mounting hole (18), the positioning plate (19) is locked on the mounting plate (11).

5. The robotic arm (1) welding equipment for sensors according to claim 4, characterized in that, The positioning disk (19) has three narrow slots (22) arranged radially along the positioning disk (19). The three slots divide the positioning disk (19) into three equal parts, and a positioning hole (20) is provided between two adjacent slots.

6. The robotic arm (1) welding equipment for sensors according to claim 1, characterized in that, The movable subframe (9) is provided with a locking element; when the locking element is unlocked, the movable subframe (9) can move along the movable track (7) under force; when the locking element is locked, the movable subframe (9) is fixed relative to the movable track (7).

7. The robotic arm (1) welding equipment for sensors according to claim 1, characterized in that, The top piece (12) includes a head end opposite to the main frame (6) and a tail end away from the main frame (6). A cylinder (23) is installed on the movable sub-frame. The output shaft of the cylinder (23) is connected to the tail end of the top piece (12). The operation of the output shaft drives the top piece (12) to move along the axial direction of the top piece (12).

8. The robotic arm (1) welding equipment for sensors according to claim 7, characterized in that, The top part (12) has a conical structure at its head end, and the head end of the top part (12) is inserted into the other end of the sensor support tube (13).

9. The robotic arm (1) welding equipment for sensors according to claim 1, characterized in that, The movable bracket (8) is provided with a locking element; when the locking element is unlocked, the movable bracket (8) can move along the movable track (7) under force; when the locking element is locked, the movable bracket (8) is fixed relative to the movable track (7).

10. The robotic arm (1) welding equipment for the sensor according to claim 1 or 9, characterized in that, The movable bracket (8) is provided with a slot (24) for accommodating the sensor housing (10).

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