CN110508953A - A kind of positioning device and localization method of fixture for laser welding - Google Patents
A kind of positioning device and localization method of fixture for laser welding Download PDFInfo
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- CN110508953A CN110508953A CN201910900689.6A CN201910900689A CN110508953A CN 110508953 A CN110508953 A CN 110508953A CN 201910900689 A CN201910900689 A CN 201910900689A CN 110508953 A CN110508953 A CN 110508953A
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- 238000003466 welding Methods 0.000 title claims abstract description 184
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000004807 localization Effects 0.000 title claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000000694 effects Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000002421 cell wall Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009828 non-uniform distribution Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention provides a kind of positioning device of fixture for laser welding and localization methods, the positioning device of the fixture for laser welding is used to cooperate with laser welding gun, the fixture for laser welding is positioned, it includes the clamping device of workbench and setting on the workbench, the workbench is equipped at least three location structures, and any three in the location structure are not on the same line, suitable in the fixture for laser welding position fixing process, the location structure is matched with the laser welding gun, determines the positioning plane of the fixture for laser welding.The positioning device of fixture for laser welding of the invention is in positioning fixture, it only needs arbitrarily to choose three from multiple location structures and is assured that a positioning plane positioning fixture, without updating robot program, to effectively shorten the time required for positioning fixture, welding efficiency is largely improved.
Description
Technical field
The present invention relates to technical field of laser welding, a kind of positioning device in particular to fixture for laser welding and
Localization method.
Background technique
Currently, laser welding carries laser pipette tips using robot, spatially according to the robot program of editor to work
Part is welded.And the spot diameter out of laser pipette tips is smaller, so higher to the positioning requirements of fixture spatially.Generally adopt
With fang bolt is played come stationary fixture, fixture and robot is made to form absolute position.But due to robot working long hours or
After colliding, the position of fixture can generate offset, cause the absolute position of fixture and robot to change, thus need
Pad and editor robot program are readjusted, and this work takes a long time, and influences welding efficiency.
It can be seen that the positioning device for researching and developing a kind of a kind of fixture for laser welding that can effectively solve the above problem is current
Technical problem urgently to be solved.
Summary of the invention
When problems solved by the invention is that the absolute position of fixture and robot changes, need to readjust pad
With editor robot program, work is taken a long time, and influences welding efficiency.
To solve the above problems, the present invention provides a kind of positioning device of fixture for laser welding, for matching with laser welding gun
It closes, the fixture for laser welding is positioned, the clamping device including workbench and setting on the workbench, the work
Make platform equipped at least three location structures, and any three in the location structure are not on the same line, are suitable in institute
It states in fixture for laser welding position fixing process, the location structure is matched with the laser welding gun, determines the laser welding
The positioning plane of fixture.
In this way, by the way that at least three location structures are arranged on the table, in positioning fixture, it is only necessary to from multiple positioning
Three are arbitrarily chosen in slot is assured that a positioning plane positioning fixture, without updating robot program,
To effectively shorten the time required for positioning fixture, welding efficiency is largely improved.
Optionally, the location structure is locating slot or positioning convex point.
In this way, being matched using protrusion and groove come being overlapped between the pipette tips for realizing laser welding gun and location structure
Match, structure is simple, easy to operate.
Optionally, the location structure is locating slot, and the head of the laser welding gun, which is equipped with, has cuspidated positioning head, institute
Locating slot is stated to be adapted with the tip of the positioning head.
In this way, matching by the way that positioning head is arranged on laser welding gun with location structure, determine that the positioning of fixture is flat
The precision of the welding track of laser welding gun can be improved so that positioning is more accurate in face.
Optionally, multiple location structures are in turn connected to form polygon, and multiple location structures be distributed in it is more
The apex of side shape.In this way, with ensure any three in multiple location structures not on the same line.
Optionally, multiple location structures are uniformly distributed on the workbench.Facilitate batch machining location structure, with
Improve processing efficiency.
Optionally, it is set on the workbench there are two welding post, is equipped with the folder on each described welding post
Tight device, and the location structure is located between two welding posts.
In this way, robot can successively weld two after the workpiece on two welding posts is clamped by clamping device
Workpiece on station carries out welding processing, realizes the welding processing that clamped one time completes two workpiece, substantially increases welding
Efficiency.
Optionally, two welding posts are arranged in parallel on the workbench.To prevent two laser welding gun difference
It is interfered when being welded simultaneously to two workpiece, influences to weld.
Optionally, positioning pin is equipped on each described welding post, the workpiece is equipped with location hole, in clamping institute
When stating workpiece, the positioning pin passes through the location hole, is suitable for carrying out location and installation to the workpiece.
In this way, structure is simple, holds by the installation positioning for cooperating to realize workpiece of setting positioning pin and location hole
Easily realize.
Optionally, the clamping device includes fixed upper pressure component and side pressure component on the workbench, the side
Pressure component is located at the welding ends of the workpiece, and to workpiece application pressure on the length direction of the workpiece, it is described on
Pressure component is located at the side pressure component towards the side of the workpiece, and applies pressure to the workpiece in vertical direction, described
Upper pressure component and the side pressure component match, and clamp the workpiece.
In this way, applying downward pressure, side pressure component to workpiece by upper pressure component applies pressure to the left and right ends of workpiece
Power, on the table by Workpiece clamping, realize the clamping of workpiece.
Optionally, upper press component to include the first cylinder, be fixedly connected with the piston rod of first cylinder first
Connecting plate and the upper fixed briquetting being fixed on first connecting plate, first cylinder drive fixed briquetting
It is vertically moving and rotate and clamp the workpiece.
In this way, upper fixed briquetting is driven to move downward simultaneously rotating clamp clamping of workpieces using the first cylinder, component is pressed in realization
Clamping to workpiece, structure is simple, and convenient for operation；And it can be workpiece that upper pressure component, which rotates the position to original state,
Biggish installation space has been reserved, has not only facilitated the clamping of workpiece, also conveniently removes workpiece.
Optionally, the upper pressure component further includes the movable holddown with first connecting plate rotation connection, the activity
Briquetting is matched with fixed briquetting, suitable for limiting the movement of the workpiece in the width direction of the workpiece.
In this way, can be limited in the movement of its width direction workpiece, prevent workpiece in the welding process in its width
Degree shifts on direction, stability and welding quality when improving clamping workpiece.
Optionally, the movable holddown is rotatablely connected by shaft part and first connecting plate；It is described under original state
Angle is formed between the upper surface of movable holddown and the lower end surface of first connecting plate, in clamping the workpiece fabrication, institute
It states movable holddown to rotate around the shaft part, until the upper surface of the movable holddown and the lower end surface of first connecting plate are flat
Row.
In this way, gradually clamping workpiece by the rotational motion of movable holddown in clamping process, pressure group can be reduced
Operation difficulty when part is clamped workpiece, portable propelling briquetting in clamping process to workpiece move in the front-back direction into
Row limitation.
Optionally, the movable holddown is equipped with holding tank, and first connecting plate is equipped with link block, and the connection
Block is contained in the holding tank, and the movable holddown is rotatablely connected by the shaft part and the link block.
It, can be with when needing replacing fixture in this way, movable holddown is rotatablely connected indirectly by link block with the first connecting plate
It only needs to replace and presses fixed block, movable holddown, link block, retain the first cylinder and the first connecting plate, it is entire without replacing
Upper pressure component to improve the versatility of the first connecting plate, while also improving the service life of the first connecting plate.
Optionally, the side pressure component include the second cylinder, be fixedly connected with the piston rod of second cylinder second
The fixed briquetting of connecting plate and the side being fixed on second connecting plate, second cylinder drive the fixed briquetting in the side
It moves and rotates along the length direction of the workpiece and clamp the workpiece.
In this way, moving downward simultaneously rotating clamp clamping of workpieces using the second cylinder come the fixed briquetting of driving side, side pressure component is realized
The both ends in Workpiece length direction are clamped, structure is simple, and convenient for operation；And side pressure component is rotated to original state
Position can reserve biggish installation space for workpiece, further facilitated the clamping and feeding of workpiece.
Optionally, the clamping device further includes Liner Components, and the Liner Components are located at the side pressure component towards institute
State the side of workpiece；In the clamp state, the piece-holder is between the upper pressure component and the Liner Components, suitable for giving
The welding ends of the workpiece provides support.
In this way, being supported by setting Liner Components to the welding ends of workpiece, to further increase laser welding
Quality；Meanwhile Liner Components can also be matched with upper pressure component, be limited the movement of workpiece in above-below direction, into one
Step ensures fixture to the reliability of clamping workpiece.
Optionally, the Liner Components include third cylinder, the third that is fixedly connected with the piston rod of the third cylinder
Connecting plate and the liner cushion block being flexibly connected with the third connecting plate；In clamping process, the third cylinder drives institute
The welding ends for stating liner cushion block towards the workpiece is mobile, until abutting with the welding ends of the workpiece.
In this way, the Support Position of liner cushion block can be adjusted according to the length dimension of different workpieces, liner group is expanded
The scope of application of part, to improve the versatility of clamping device.
Optionally, further include the rack of the fixed workbench, the rack be equipped with station and with the station
The electric-control system of electrical connection, suitable for controlling the clamping device in the clamped position for clamping the workpiece and taking out the workpiece
Switching between material returned position.
In this way, can be realized by a key operation fixture to the clamping of workpiece, and after the welding is completed pass through a key
The reset to realize each cylinder is operated, to take out workpiece, work efficiency is high.
To solve the above problems, the method is using upper the present invention also provides a kind of localization method of fixture for laser welding
The positioning device of any fixture for laser welding is stated, the localization method includes:
Welding robot program is set, sets movement origin for the vertex in laser arc welding gun head portion；
Three are arbitrarily chosen from multiple location structures is used as positioning datum point；
By the way that the vertex in laser arc welding gun head portion to be successively overlapped with three positioning datum points, determine described sharp
The positioning plane of flush weld welding fixture.
Optionally, the vertex in laser arc welding gun head portion is set movement origin by the setting welding robot program；Before
Further include:
One positioning head is installed on the head of laser welding gun, for matching with the location structure on the workbench；
The positioning plane that the fixture for laser welding is determined according to the origin system；Later further include:
Before the laser welding gun is welded, the positioning head is removed.
Optionally, described before the laser welding gun is welded, remove the positioning head；Later further include:
When processing same part workpiece, when the head of the laser welding gun because after colliding misalignment, by the laser welding gun
The vertex on head is overlapped with any three in multiple location structures, recalibrates the welding track of the laser welding gun,
And continue to process after the completion of calibration.
The positioning device of the localization method of the fixture for laser welding and above-mentioned fixture for laser welding is compared with the existing technology
Possessed advantage is identical, and details are not described herein.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the positioning device of fixture for laser welding in the embodiment of the present invention when clamping workpiece；
Fig. 2 is the structural schematic diagram of welding robot in the embodiment of the present invention；
Fig. 3 is partial enlarged view at the A in Fig. 2；
Fig. 4 is structural schematic diagram of the clamping device when removing workpiece in the embodiment of the present invention；
Fig. 5 is partial enlarged view at the B in Fig. 4；
Fig. 6 is the C direction view in Fig. 4；
Fig. 7 is the structural schematic diagram of clamping device another kind situation when removing workpiece in the embodiment of the present invention；
Fig. 8 is structural schematic diagram of the clamping device in feeding in the embodiment of the present invention；
Fig. 9 is the configuration schematic diagram of part-structure in upper pressure component in the embodiment of the present invention；
Figure 10 is status diagram of the movable holddown before clamping workpiece in the embodiment of the present invention；
Figure 11 is status diagram of the movable holddown after clamping workpiece in the embodiment of the present invention；
Figure 12 is the localization method flow chart of fixture for laser welding in the embodiment of the present invention；
Figure 13 is the flow chart of another situation of localization method of fixture for laser welding in the embodiment of the present invention.
Description of symbols:
1- laser welding gun, 11- positioning head, 2- workbench, 21- locating slot, 22- welding post, 23- positioning pin, 24- add
Work slot, 3- clamping device press component on 31-, the first cylinder of 311-, the first connecting plate of 312-, 3121- link block, and 313- is fixed
Briquetting, 314- movable holddown, 3141- horizontal part, 3142- vertical component effect, 3143- holding tank, 315- shaft part, 316- holding chamber,
32- side pressure component, the second cylinder of 321-, the second connecting plate of 322-, the fixed briquetting in the side 323-, 33- Liner Components, 331- third
Cylinder, 332- third connecting plate, 333- liner cushion block, 4- rack, 41- station, 5- workpiece, 51- location hole, 52- welding
End.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the description of the present invention, it should be noted that the instruction such as term " on ", "lower", "left", "right", "high", " low "
Direction or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
In conjunction with shown in Fig. 1 to Fig. 2, the present embodiment provides a kind of positioning device of fixture for laser welding, it is used for and Laser Welding
Rifle 1 cooperates, and positions to fixture for laser welding, including workbench 2 and the clamping device 3 being arranged on workbench 2, workbench
2 are equipped at least three location structures 21, and any three in location structure 21 are not on the same line, are suitable in Laser Welding
In welding fixture position fixing process, location structure 21 is matched with laser welding gun 1, determines the positioning plane of fixture for laser welding.
Since the pipette tips of laser welding gun 1 go out, spot diameter is smaller, and the light out of the diameter of location structure 21 and laser welding gun
Spot diameter is suitable, therefore the diameter of location structure 21 is also smaller, and a location structure 21 can be regarded as to a positioning datum point,
That is, being provided with 1 positioning datum points on workbench 2, and any three in these location structures 21 do not exist
On same straight line.Fixture for laser welding (hereinafter referred to as fixture) is fixed on the ground by making fot screw, so that fixture and machine
Absolute position is formed between device people, but robot and fixture will lead to fixture and machine after working long hours or colliding
Absolute position between device people changes, and influences the path accuracy of robot original program operation, prevent laser welding gun 1 is from inciting somebody to action
Weld seam is burn-on.At this moment, three can be arbitrarily chosen from multiple location structures 21 and is used as positioning datum points, allow laser welding gun 1
Pipette tips are successively overlapped with the positioning datum point that these three are selected, and determine the positioning plane of fixture, robot is then according to determination
Positioning plane out determines position of the fixture relative to robot.Since workpiece 5 is fixed on workbench 2 by clamping device 3
When, absolute coordinate is formed between workpiece 5 and workbench 2, that is to say, that absolute coordinate, Ke Yigen are formed between workpiece 5 and fixture
Check the welding track of laser welding gun 1 again according to the positioning plane of fixture.
In this way, in positioning fixture, it is only necessary to arbitrarily choose three from multiple location structures 21 and be assured that out one
A positioning plane carrys out positioning fixture, without updating robot program, to effectively shorten required for positioning fixture
Time, largely improve welding efficiency.
Optionally, location structure 21 is locating slot or positioning convex point.Corresponding, the pipette tips of laser welding gun 1 are and positioning
The compatible bulge-structure of slot, or be groove structure compatible with positioning convex point.
In this way, being matched using protrusion and groove come being overlapped between the pipette tips for realizing laser welding gun 1 and location structure
Match, structure is simple, easy to operate.
Optionally, in conjunction with shown in Fig. 1 to Fig. 4, location structure 21 is locating slot, and the head of laser welding gun 1, which is equipped with, has point
The positioning head 11 at end, location structure 21 are adapted with the tip of positioning head 11.
As shown in connection with fig. 5, when location structure 21 is locating slot, since the size of locating slot is smaller, adding man-hour requirement
L-shaped processing groove 24 is first processed on the table top of workbench 2, then processes locating slot in the corner of processing groove 24.
In the present embodiment, positioning head 11 has stub end and tip in coniform, and stub end is connect with the pipette tips of laser welding gun 1, tip
In free state, and locating slot is adapted with the tip of positioning head 11.In positioning fixture, successively by the tip of positioning head 11
It is overlapped with three locating slots being selected, determines the positioning plane of fixture.
In this way, matching by the way that positioning head 11 is arranged on laser welding gun 1 with location structure 21, determining for fixture is determined
The precision of the welding track of laser welding gun 1 can be improved so that positioning is more accurate in bit plane.
Optionally, multiple location structures 21 are in turn connected to form polygon, and multiple location structures 21 are distributed in polygon
Apex.That is, multiple location structures 21, which are connected in turn, can form a polygon, wherein the polygon
Can be regular polygon, multiple location structures are evenly distributed at this time, the line between two neighboring location structure apart from identical,
Facilitate batch machining location structure, to improve processing efficiency；The polygon is also possible to non-regular polygon, at this time multiple positioning knots
Structure is in non-uniform Distribution.In this way, with ensure any three in multiple location structures not on the same line.
Optionally, it in conjunction with shown in Fig. 5 and Fig. 6, is set on workbench 2 there are two welding post 22, each welding post 22
On be equipped with clamping device 3, and location structure 21 is located between two welding posts 22.
Wherein, two welding posts 22 can be arranged in parallel, can also be arranged in angle, the present embodiment preferably two
Welding post 22 is arranged in parallel, occurs when preventing two laser welding guns 1 from welding simultaneously to two workpiece 5 respectively dry
It relates to.And other components are fitted without on workbench 2 between the two, space is larger, and location structure 21 is just arranged at two
On the table top of workbench 2 between welding post 22, convenient for movement of the pipette tips between multiple location structures 21 of laser welding gun 1
Positioning.
In this way, robot can be successively to two after the workpiece 5 on two welding posts 22 is clamped by clamping device 3
Workpiece 5 on welding post 22 carries out welding processing, realizes the welding processing that clamped one time completes two workpiece 5, mentions significantly
High welding efficiency.
Optionally, in conjunction with shown in Fig. 1 and Fig. 6, positioning pin 23 is equipped on each welding post 22, workpiece 5 is equipped with
Location hole 51, in clamping workpiece 5, positioning pin 23 passes through location hole 51, is suitable for carrying out location and installation to workpiece 5.
Positioning pin 23 is in the form of a column structure, and the middle position of welding post 22 is arranged in, the positioning being arranged on workpiece 5
The shape in hole 51 is adapted with positioning pin 23, and the size of location hole 51 is slightly larger than the circumferential size of positioning pin 23, convenient for positioning
Pin 23 passes through location hole 51.When workpiece 5 to be installed on clamping device 3, first by the location hole 51 and welding post on workpiece 5
Positioning pin 23 on 22 is aligned, and allows positioning pin 23 to pass through location hole 51, so that workpiece 5 is located at positioning pin 23.
In this way, by the installation positioning for cooperating to realize workpiece 5 of setting positioning pin 23 and location hole 51, structure letter
It is single, it is easy to accomplish.
Optionally, the cross section of positioning pin 23 is oval or the non-circular structures such as polygon.
In this way, can prevent workpiece 5 from rotating during location and installation around positioning pin 23, so as to improve workpiece
5 reliability in positioning.
Optionally, referring to figs. 7 and 8, clamping device 3 includes upper pressure component 31 and the side being fixed on workbench 2
Component 32 is pressed, side pressure component 32 is located at the welding ends 52 of workpiece 5, and applies pressure to workpiece 5 on the length direction of workpiece 5,
Upper pressure component 31 is located at side pressure component 32 towards the side of workpiece 5, and applies pressure, upper pressure component to workpiece 5 in vertical direction
31 and side pressure component 32 match, clamp workpiece 5.
Workpiece 5 is in the plate structure of strip, and left and right ends are the positions for needing to weld, therefore the welding ends 52 of workpiece 5
Refer to the left or right of workpiece 5.In the present embodiment, set in a welding post 22 there are two upper pressure component 31 and two sides
Press component 32.When workpiece 5 is mounted on workbench 5, two upper pressure components 31 are respectively positioned on the same side of workpiece 5, and set relatively
It sets, and two upper pressure components 31 are located between two side pressure components 32, and two side pressure components 32 are respectively in the left and right of workpiece 5
Both ends are oppositely arranged.During clamping workpiece 5, upper pressure component 31 applies downward pressure to workpiece 5 in above-below direction, limitation
The movement of workpiece 5 in above-below direction, side pressure component 32 apply the pressure of horizontal direction to workpiece 5 in left and right directions, wherein position
Side pressure component 32 in 5 left end of workpiece applies pressure to the right to the left end of workpiece 5, positioned at the side pressure component 32 of 5 right end of workpiece
Apply pressure to the left to the right end of workpiece 5, two side pressure components 32 clamp the left and right ends of workpiece 5, limit workpiece 5
Movement in left and right directions.It should be noted that the size of workpiece 5 in left and right directions is greater than the size in other directions, therefore work
The length direction of part 5 is the left and right directions in Fig. 7 or Fig. 8, and it includes Fig. 7 or Fig. 8 that horizontal direction, which is parallel to the direction on ground,
In left and right directions and front-rear direction, and vertical direction is perpendicular to the up and down direction in the direction and Fig. 7 or Fig. 8 on ground.
In this way, applying downward pressure, side pressure component 32 to the left and right ends of workpiece 5 to workpiece 5 by upper pressure component 31
Apply pressure, so that workpiece 5 is clamped on workbench 2, realizes the clamping of workpiece 5.
Optionally, as shown in connection with fig. 8, upper pressure component 31 is consolidated including the first cylinder 311, with the piston rod of the first cylinder 311
Surely the first connecting plate 312 connected and the upper fixed briquetting 313 being fixed on the first connecting plate 312, the first cylinder 311 drive
Dynamic fixed briquetting 313 is vertically moving and rotating clamp clamping of workpieces 5.
First cylinder 311 is fixed on vertically on workbench 2, and the first connecting plate 312 is fixed on the first cylinder by fastener
The end of 311 piston rod, upper fixed briquetting 313 are fixed on the lower section of the first connecting plate 312 by fastener.First cylinder
311 can drive its piston rod to be rotated while moving along the vertical direction, since the first connecting plate 312 is fixed on the first gas
On the piston rod of cylinder 311, upper fixed briquetting 313 is fixed on the first connecting plate 312, therefore the first cylinder 311 drives its piston rod
Fixed briquetting 313 can be driven to move and rotate along the vertical direction when movement.It is clamped to workpiece 5 in upper pressure component 31
Before, as shown in figure 8, the piston rod of the first cylinder 311 stretches out state in upward, and drive the first connecting plate 312 and upper fixed pressure
The rotation of block 313 has larger spacing between fixed briquetting 313 upper at this time and workpiece 5, is to the position being parallel to each other with workpiece 5
It is easy to understand, this state is known as to the original state of upper pressure component 31.When starting to be clamped workpiece 5, the first cylinder
311 its piston rod retracted downward of driving simultaneously rotate, and are fixed while briquetting 313 moves downward in drive around the first cylinder 311
Piston rod rotation, when the first connecting plate 312 rotates 90 ° by original state, the piston rod of the first cylinder 311 stops rotating, and
Continue retracted downward, fixes briquetting 313 in driving and continue to move downward, until upper fixed briquetting 313 is abutted with workpiece 5, first
311 stop motion of cylinder, upper pressure component 31 in above-below direction clamps workpiece 5 at this time.
In this way, driving upper fixed briquetting 313 to move downward and rotating clamp clamping of workpieces 5 using the first cylinder 311, in realization
Clamping of the component 31 to workpiece 5 is pressed, structure is simple, and convenient for operation；And upper pressure component 31 is rotated to the position under original state
Biggish installation space can have been reserved for workpiece 5 by setting, and not only facilitated the clamping of workpiece 5, also conveniently removed workpiece 5, moreover it is possible to
Enough reduce the occupied space of fixture.
Optionally, as shown in connection with fig. 8, upper pressure component 31 further includes the movable holddown with the rotation connection of the first connecting plate 312
314, movable holddown 314 is matched with upper fixed briquetting 313, suitable for limiting the movement of workpiece 5 in the width direction of workpiece 5.
Upper fixed briquetting 313 and movable holddown 314 are respectively positioned on the lower section of the first connecting plate 312, in the assembled condition, upper solid
Level pressure block 313 and movable holddown 314 form semi-surrounding structure, and form holding chamber 316, and holding chamber 316 and 5 phase of workpiece are suitable
Match, for clamping workpiece 5.As shown in connection with fig. 1, when workpiece 5 is clamped, movable holddown 314 is located at upper fixed briquetting 313
The front-end and back-end of workpiece 5 limit workpiece 5 in movement in the front-back direction, it should be noted that workpiece 5 is in front and back
Upward size is the width dimensions of workpiece 5, therefore the width direction of workpiece 5 is the front-rear direction in Fig. 1 or Fig. 8.
In this way, can be limited in the movement of its width direction workpiece 5, prevent workpiece 5 in the welding process at it
It shifts in width direction, stability and welding quality when improving 5 clamping of workpiece.
Optionally, in conjunction with shown in Fig. 8 to Figure 11, movable holddown 314 is rotated by shaft part 315 and the first connecting plate 312
Connection；Under original state, angle is formed between the upper surface of movable holddown 314 and the lower end surface of the first connecting plate 312, is being pressed from both sides
During clamping of workpieces 5, movable holddown 314 rotate shaft member 315 rotation, until movable holddown 314 upper surface and the first connecting plate
312 lower end surface is parallel.
Movable holddown 314 be in inverted l-shaped structure, and have horizontal part 3141 and vertical component effect 3142, and horizontal part 3141 and hang down
Straight portion 3142 is integrally formed, and shaft part 315 is arranged in the junction of horizontal part 3141 Yu vertical component effect 3142, under original state, water
Angle α, and angle α > 0 are formed between flat portion 3141 and the lower end surface of the first connecting plate 312, while the deviation of vertical component effect 3142 is perpendicular
Histogram to.During clamping workpiece 5, the first cylinder 311 drives the first connecting plate 312 to move downward and around the first cylinder 311
Piston rod rotation, the first connecting plate 312 then drives movable holddown 314 to move synchronously together；When movable holddown 314 moves downward
When entering holding chamber 316 to workpiece 5, the horizontal part 3141 of movable holddown 314 is abutted with the upper surface of workpiece 5, activity pressure
Under the withstanding effect of workpiece 5, the shaft member that rotates 315 rotates block 314, so that angle α starts to reduce, until movable holddown 314
Vertical component effect 3142 is abutted with the front end of workpiece 5, and angle α is decreased to 0, at this time the horizontal part 3141 of movable holddown 314 and workpiece 5
Upper surface fitting, and it is parallel with the lower end surface of the first connecting plate 312, so that workpiece 5 is clamped in holding chamber 316.
In this way, gradually clamping workpiece 5 by the rotational motion of movable holddown 314 in clamping process, can reduce
Operation difficulty when pressure component 31 is clamped workpiece 5, portable propelling briquetting 314 is in clamping process to workpiece 5 in front and back
The movement in direction is limited.
Optionally, as shown in connection with fig. 9, movable holddown 314 is equipped with holding tank 3143, is installed on the first connecting plate 312
Link block 3121, and link block 3121 is contained in holding tank 3143, movable holddown 314 passes through shaft part 315 and link block
3121 rotation connections.
Link block 3121 is fixed on the lower end of the first connecting plate 312 by fastener, and the setting of holding tank 3143 is pressed in activity
On the horizontal part 3141 of block 314, and holding tank 3143 runs through on the length direction of the first connecting plate 312, so that link block
3121 can be installed in holding tank 3143 from the multiple directions of holding tank 3143.Shaft part 315 can be pin, bolt, pin
The structures such as axis.Link block 3121 is equipped with pin hole, and corresponding position is equipped with shaft hole, shaft part 315 on the cell wall of holding tank 3143
By 3143 side of holding tank, shaft hole and pin hole are passed through, and is pierced by from the other side of holding tank 3143, so that movable holddown 314
It is formed and is rotatablely connected with link block 3121.
In this way, movable holddown 314 is being needed replacing by link block 3121 and the first rotation connection indirectly of connecting plate 312
When fixture, it only can need to replace and press fixed block 313, movable holddown 314, link block 3121, retain the first cylinder 311 and the
One connecting plate 312, without replacing entire upper pressure component 31, so that the versatility of the first connecting plate 312 is improved, while
Improve the service life of the first connecting plate 312.
Optionally, as shown in connection with fig. 7, side pressure component 32 is consolidated including the second cylinder 321, with the piston rod of the second cylinder 321
Surely the fixed briquetting 323 of the second connecting plate 322 connected and the side being fixed on the second connecting plate 322, the second cylinder 321 drive
The dynamic fixed briquetting 323 in side is moved along the length direction of workpiece 5 and rotating clamp clamping of workpieces 5.
Second cylinder 321 is horizontally fixed on workbench 2, and the second connecting plate 322 is fixed on the second cylinder by fastener
The end of 321 piston rod, the fixed briquetting 323 in side are fixed on the second connecting plate 322 towards the side of workpiece 5 by fastener.
Second cylinder 321 can drive its piston rod to be rotated while moving in left-right direction, since the second connecting plate 322 is fixed
On the piston rod of the second cylinder 321, the fixed briquetting 323 in side is fixed on the second connecting plate 322, therefore the second cylinder 321 drives
The fixed briquetting 323 in side can be driven to move and rotate in left-right direction when its piston rod movement.The present embodiment is left to be located at workpiece 5
For the side pressure component 32 of side, it is illustrated.Before side pressure component 32 is clamped workpiece 5, as shown in figure 8, the
The piston rod of two cylinders 321 is in state of stretching out to the left, and drives the fixed rotation of briquetting 323 of the second connecting plate 322 and side extremely and work
The parallel position of the width direction of part 5 has larger spacing between the fixed briquetting 323 in side and workpiece 5 at this time, for the ease of reason
This state, is known as the original state of side pressure component 32 by solution.When starting to be clamped workpiece 5, the second cylinder 321 drives it
Piston rod shrinks and rotates to the right, and piston rod of the fixed briquetting 323 in side while moving right around the second cylinder 321 is driven to turn
Dynamic, when the second connecting plate 322 rotates 90 ° by original state, the piston rod of the second cylinder 321 stops rotating, and continues to the right
It shrinking, the fixed briquetting 323 of driving side continues to move right, until the fixed briquetting 323 in side is abutted with the welding ends 52 of workpiece 5, the
Two cylinders, 321 stop motion, two side pressure components 32 in left and right directions clamp workpiece 5 at this time.
In this way, moving downward simultaneously rotating clamp clamping of workpieces 5 using the second cylinder 321 come the fixed briquetting 323 of driving side, side is realized
Pressure component 32 is clamped the both ends of 5 length direction of workpiece, and structure is simple, and convenient for operation；And side pressure component 32 rotates
Position under to original state can reserve biggish installation space for workpiece 5, further facilitated workpiece 5 clamping and
Feeding.
Optionally, as shown in connection with fig. 8, clamping device 3 further includes Liner Components 33, and Liner Components 33 are located at side pressure component
32 towards the side of workpiece 5；In the clamp state, workpiece 5 is clamped between upper pressure component 31 and Liner Components 33, is suitable for work
The welding ends 52 of part 5 provides support.
It is collapsed since in laser beam welding, the welding ends 52 of workpiece 5 is easy to happen in the case where no support, therefore
Liner Components 33 are arranged in the present embodiment in clamping device 3, provide a supporting role to the welding ends 52 of workpiece 5.Workpiece 5 has two
A welding ends 52, the i.e. left end of workpiece 5 and right end, therefore there are two Liner Components 33 are also provided with, and it is located at the left and right of workpiece 5
Both ends.In clamping process, Liner Components 33 are matched with upper pressure component 31.
In this way, being supported by setting Liner Components 33 come the welding ends 52 to workpiece 5, to further increase Laser Welding
The quality connect；Meanwhile Liner Components 33 can also be matched with upper pressure component 31, be carried out to the movement of workpiece 5 in above-below direction
Limitation further ensures fixture to the reliability of 5 clamping of workpiece.
Optionally, as shown in connection with fig. 8, Liner Components 33 are consolidated including third cylinder 331, with the piston rod of third cylinder 331
Surely the third connecting plate 332 connected and the liner cushion block 333 being flexibly connected with third connecting plate 332；In clamping process,
The welding ends 52 that third cylinder 331 drives liner cushion block 333 towards workpiece 5 is mobile, until abutting with the welding ends 52 of workpiece 5.
Third cylinder 331 is horizontally fixed on workbench 2, and third connecting plate 332 is fixed on third cylinder by fastener
The end of 331 piston rod, liner cushion block 333 are located at third connecting plate 332 close to the side of side pressure component 32.Liner cushion block
333 are flexibly connected with third connecting plate 332 and refer to, when adjusting the Support Position of liner cushion block 333 for the first time, liner cushion block 333
It is fixed on third connecting plate 332 by fastener, welding ends 52 of the liner cushion block 333 towards workpiece 5 is driven by third cylinder
Movement, until liner cushion block 333 is abutted with the welding ends 52 of workpiece 5；In the Support Position for adjusting liner cushion block 333 for the first time
Afterwards, when being welded for the workpiece 5 of same model, without driving Liner Components 33 to move in each clamping workpiece 5, at this moment
Need to release being fixedly connected for liner cushion block 333 and third connecting plate 332, only in the branch for needing with changing liner cushion block 333
When supportting position, then liner cushion block 333 is fixedly connected with third connecting plate 332, in this way, liner cushion block 333 and third connecting plate
332 form flexible connection.
In this way, the Support Position of liner cushion block 333 can be adjusted according to the length dimension of different workpieces 5, expand interior
The scope of application for serving as a contrast component 33, to improve the versatility of clamping device.
It optionally, as shown in connection with fig. 1, further include rack 4 for stationary work-table 2, rack 4 is equipped with 41 He of station
The electric-control system being electrically connected with station 41, suitable for controlling clamping device 3 in the clamped position for clamping workpiece 5 and taking out workpiece 5
Material returned position between switching.
The material returned position of clamping device 3 is upper pressure component 31 and position when side pressure component 32 is in original state, such as
Shown in Fig. 8；The clamped position of clamping device 3 is upper pressure component 31 and position when side pressure component 32 is in clamped condition, such as
Shown in Fig. 1.Electric-control system is arranged in rack 4, and is PLC electric control system, and station 41 is equipped with key, these keys
It is electrically connected with PLC electric control system, clamping device 3 is manipulated by key in clamped position and the taking-up for clamping workpiece 5
Motion switch between the material returned position of workpiece 5.
In this way, can be realized by a key operation fixture to the clamping of workpiece 5, and after the welding is completed pass through a key
The reset to realize each cylinder is operated, to take out workpiece 5, work efficiency is high.
In conjunction with shown in Figure 12, the present embodiment also provides a kind of localization method of fixture for laser welding, and the method is using upper
State the positioning device of any fixture for laser welding, the localization method the following steps are included:
Step S2, robot program is set, sets the vertex on 1 head of laser welding gun to the motor of laser welding gun 1
Point；
Step S3, three 1 are arbitrarily chosen from multiple location structures 21 on workbench 2 is used as positioning datum point；
Step S4, it by the way that the vertex on 1 head of laser welding gun to be successively overlapped with three positioning datum points, determines to swash
The positioning plane of flush weld welding fixture.
It should be noted that step S2 and step S3 are in no particular order.In the present embodiment, according to not on the same line three
A point can determine the principle of a plane, by setting movement origin for the vertex on 1 head of laser welding gun, and allow Laser Welding
The vertex on 1 head of rifle is successively overlapped with any three in multiple location structures 21, determines the origin system of fixture, root
The positioning plane that fixture is determined according to the origin system of fixture, obtains position of the fixture relative to robot, realizes fixture
Positioning, so as to check the welding track of laser welding gun 1 again according to positioning plane.
In this way, the absolute position between fixture and robot changes, and when needing to relocate fixture, Ke Yiwu
Robot program need to be updated, to effectively shorten the time required for positioning fixture, largely improves weldering
Connect efficiency.
Optionally, S1 is further comprised the steps of: before step S2, one positioning head 11 is installed on the head of laser welding gun 1, is used for
It is matched with the location structure 21 on workbench 2；S5 is further comprised the steps of: after step s4, before laser welding gun 1 is welded,
Remove positioning head 11.
Wherein, location structure 21 is locating slot, and positioning head 11 has stub end and a tip in coniform, stub end and is swashed
The pipette tips of flush weld rifle 1 connect, and tip is in free state, and locating slot is adapted with the tip of positioning head 11.In positioning fixture,
The program of robot is set, allows the tip of positioning head 11 to be successively overlapped with three locating slots being selected, to determine determining for fixture
Bit plane.In the present embodiment, after the positioning for completing fixture, it is additionally provided with the step for removing positioning head 11, this is because if not
Positioning head 11 is removed, laser welding gun 1 can be hindered to go out light, influence welding quality.
In this way, by installing positioning head 11 on the head of laser welding gun 1, the tip and location structure 21 using positioning head 11
It is overlapped, so that the fixture origin system position of setting is more accurate, positioning with higher is more accurate, improves Laser Welding
The welding track precision of rifle 1.
Optionally, after step S5 further include: S6, when processing same part workpiece, when the head of laser welding gun because touching
After hitting misalignment, the vertex in laser arc welding gun head portion is overlapped with any three in multiple location structures, recalibrates laser welding gun
Welding track, and continue to process after the completion of calibration.To realize the quick positioning of fixture in the welding process, weldering both ensure that
Quality is connect, and improves welding efficiency.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (10)
1. a kind of positioning device of fixture for laser welding carries out the fixture for laser welding for cooperating with laser welding gun (1)
Positioning, which is characterized in that including workbench (2) and the clamping device (3) being arranged on the workbench (2), the workbench
(2) at least three location structures (21) are equipped with, and any three in the location structure (21) are not on the same line, fitted
In in the fixture for laser welding position fixing process, the location structure (21) matches with the laser welding gun (1), determines
The positioning plane of the fixture for laser welding.
2. the positioning device of fixture for laser welding as described in claim 1, which is characterized in that the location structure (21) is fixed
Position slot or positioning convex point.
3. the positioning device of fixture for laser welding as described in claim 1, which is characterized in that the location structure (21) is fixed
Position slot, the head of the laser welding gun (1), which is equipped with, has cuspidated positioning head (11), the locating slot and the positioning head (11)
Tip be adapted.
4. the positioning device of fixture for laser welding as described in claim 1, which is characterized in that multiple location structures (21)
It is in turn connected to form polygon, and multiple location structures (21) are distributed in the apex of polygon.
5. the positioning device of fixture for laser welding as claimed in claim 4, which is characterized in that multiple location structure (21) In
It is uniformly distributed on the workbench (2).
6. the positioning device of fixture for laser welding as described in claim 1, which is characterized in that the workbench (2) is equipped with
Two welding posts (22) are equipped with the clamping device (3) on each described welding post (22), and the location structure
(21) it is located between two welding posts (22).
7. the positioning device of fixture for laser welding as claimed in claim 6, which is characterized in that two welding posts (22)
It is arranged in parallel on the workbench (2).
8. a kind of localization method of fixture for laser welding, which is characterized in that the method is using any in the claims 1-7
The positioning device of the fixture for laser welding, the localization method include:
Welding robot program is set, sets movement origin for the vertex in laser arc welding gun head portion；
Three are arbitrarily chosen from multiple location structures is used as positioning datum point；
By the way that the vertex in laser arc welding gun head portion to be successively overlapped with three positioning datum points, the Laser Welding is determined
The positioning plane of welding fixture.
9. the localization method of fixture for laser welding as claimed in claim 8, which is characterized in that the setting welding robot journey
The vertex in laser arc welding gun head portion is set movement origin by sequence；Before further include:
One positioning head is installed on the head of laser welding gun, for matching with the location structure on the workbench；
The positioning plane that the fixture for laser welding is determined according to the origin system；Later further include:
Before the laser welding gun is welded, the positioning head is removed.
10. the localization method of fixture for laser welding as claimed in claim 9, which is characterized in that described in the laser welding gun
Before being welded, the positioning head is removed；Later further include:
When processing same part workpiece, when the head of the laser welding gun because after colliding misalignment, by laser arc welding gun head portion
Vertex be overlapped with any three in multiple location structures, recalibrate the welding track of the laser welding gun, and
Continue to process after the completion of calibration.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910900689.6A CN110508953A (en) | 2019-09-23 | 2019-09-23 | A kind of positioning device and localization method of fixture for laser welding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910900689.6A CN110508953A (en) | 2019-09-23 | 2019-09-23 | A kind of positioning device and localization method of fixture for laser welding |
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| CN110508953A true CN110508953A (en) | 2019-11-29 |
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Address after: 315000 Xinmei Road 518, Ningbo High-tech Zone, Zhejiang Province Applicant after: Ningbo Oxfam Industrial Management Co.,Ltd. Applicant after: NINGBO AUX ELECTRIC Co.,Ltd. Address before: 315191 Yinzhou District Province, Ningbo City, Jiang Shan town on the village of summer ho Applicant before: NINGBO AUX KITCHEN ELECTRIC MANUFACTURING Co.,Ltd. Applicant before: NINGBO AUX ELECTRIC Co.,Ltd. |
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Effective date of registration: 20200619 Address after: 315000 Xinmei Road 518, Ningbo High-tech Zone, Zhejiang Province Applicant after: NINGBO AUX KITCHEN ELECTRIC MANUFACTURING Co.,Ltd. Applicant after: NINGBO AUX ELECTRIC Co.,Ltd. Address before: 315000 Xinmei Road 518, Ningbo High-tech Zone, Zhejiang Province Applicant before: Ningbo Oxfam Industrial Management Co.,Ltd. Applicant before: NINGBO AUX ELECTRIC Co.,Ltd. |
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