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CN-224209274-U - Double-robot laser locating welding device

CN224209274UCN 224209274 UCN224209274 UCN 224209274UCN-224209274-U

Abstract

The utility model relates to the technical field of robot laser locating welding, and provides a double-robot laser locating welding device, which comprises: the laser locating welding mechanical arm is fixedly arranged on the control base, two groups of laser locating welding mechanical arms are arranged on two sides of the control base in a sliding mode, two groups of laser locating welding mechanical arms are respectively arranged on two sides of the arc-shaped sliding frame, the horizontal fixing clamp is arranged on the control base in a sliding mode, and the sliding clamp is fixedly arranged on the arc-shaped sliding frame.

Inventors

  • LI DONGHE

Assignees

  • 唐山极光智能科技有限公司

Dates

Publication Date
20260508
Application Date
20250606

Claims (6)

  1. 1. The double-robot laser locating welding device is characterized by comprising a control base (1), laser locating welding mechanical arms (2), an arc-shaped sliding frame (3), horizontal fixing clamps (4) and sliding clamps (5), wherein the arc-shaped sliding frame (3) is fixedly arranged on the control base (1), the laser locating welding mechanical arms (2) are provided with two groups, the two groups of laser locating welding mechanical arms (2) are slidably arranged on two sides of the control base (1), the two groups of laser locating welding mechanical arms (2) are respectively arranged on two sides of the arc-shaped sliding frame (3), the horizontal fixing clamps (4) are slidably arranged on the control base (1), and the sliding clamps (5) are fixedly arranged on the arc-shaped sliding frame (3).
  2. 2. The double-robot laser locating welding device according to claim 1, wherein the control base (1) comprises a control base (6), a clamping base (8), a mechanical arm moving base (13), a driving shaft lever (12), a driving motor (11) and a horizontal clamp rod (16), wherein the control base (6) is fixedly arranged on the clamping base (8), the horizontal clamp rod (16) is matched with the control base (6), the clamping base (8) is provided with a horizontal clamping groove (9) and an arc-shaped containing groove (15), the arc-shaped sliding frame (3) is matched with the arc-shaped containing groove (15), the horizontal clamping groove (9) is fixedly provided with a fixed clamping seat (14), the clamping base (8) is provided with two groups of driving sliding grooves (10), the driving sliding grooves (10) are arranged on two sides of the horizontal clamping groove (9), the driving shaft lever (12) is rotatably arranged in the driving sliding grooves (10), the output end of the driving motor (11) is fixedly arranged on the driving shaft (12), the mechanical arm (13) is matched with the mechanical arm moving base (13), the horizontal fixing clamp (4) is matched and arranged on the horizontal clamp rod (16).
  3. 3. The double-robot laser locating welding device according to claim 2, wherein the horizontal fixing clamp (4) comprises a horizontal frame (17), a first semicircular abutting joint (18), a second semicircular abutting joint (19) and a third semicircular abutting joint (20), the horizontal frame (17) and the horizontal clamp rod (16) are matched, a plurality of groups of first arc grooves (21) are formed in the horizontal frame (17), a first sliding groove (22) and a second arc groove (23) are formed in the first semicircular abutting joint (18), the first semicircular abutting joint (18) is arranged in the first arc groove (21) in a sliding mode through the first sliding groove (22), a second sliding groove (24) and a third arc groove (25) are formed in the second semicircular abutting joint (19), the second semicircular abutting joint (19) is arranged in the second arc groove (23) in a sliding mode through the second sliding groove (24), a third sliding groove (26) is formed in the third semicircular abutting joint (20), and the third arc groove (25) is formed in the third semicircular abutting joint (20) in a sliding mode.
  4. 4. The double-robot laser locating welding device according to claim 2, wherein the arc-shaped sliding frame (3) comprises a fixed arc seat (27), a sliding arc driving motor (28), arc-shaped teeth (34), a driving gear shaft (29) and a driving gear (30), wherein the fixed arc seat (27) is fixedly arranged on a clamping base (8), the fixed arc seat (27) is provided with an arc-shaped sliding groove (31), the end surface of the arc-shaped sliding groove (31) is matched with the end surface of an arc-shaped storage groove (15), the arc-shaped sliding groove (31) is arranged in the arc-shaped sliding groove (31) in an arc-shaped manner, the driving gear shaft (29) is rotatably arranged on the fixed arc seat (27), the output end of the driving gear shaft (30) is matched with the driving gear shaft (29), the driving gear (30) is matched with the tooth (34), the arc-shaped sliding groove (33) is fixedly arranged on the arc-shaped sliding groove (33), the sliding clamp (5) is arranged in the sliding clamp groove (32) in a sliding way.
  5. 5. The laser locating welding device with the double robots, as claimed in claim 4, wherein the sliding clamp (5) comprises a sliding clamp seat (35), a sliding clamp plate (37), a fixed clamp plate (38) and a fixed threaded rod (36), the sliding clamp seat (35) is fixedly arranged on the sliding arc (33), a clamp plate groove (39) is formed in the sliding clamp seat (35), the sliding clamp plate (37) is slidably arranged in the clamp plate groove (39), the fixed clamp plate (38) is fixedly arranged in the clamp plate groove (39), the fixed threaded rod (36) penetrates through the fixed clamp plate (38) and the sliding clamp seat (35), and the sliding clamp plate (37) is matched with the fixed threaded rod (36).
  6. 6. The double-robot laser locating welding device according to claim 4, wherein a control panel (7) is fixedly arranged on the control seat (6), and the control panel (7) is electrically connected with the driving motor (11), the laser locating welding mechanical arm (2) and the sliding arc driving motor (28).

Description

Double-robot laser locating welding device Technical Field The utility model relates to the technical field of robot laser locating welding, in particular to a double-robot laser locating welding device. Background Laser locating welding is a common welding technique, which uses a laser beam to weld and uses a laser vision system to accurately locate a weld. The technology can realize high-precision and high-efficiency welding, is particularly suitable for precise assemblies and complex welding structures, and the core of the double-robot cooperative welding system is a 12-degree-of-freedom cooperative control technology, namely each robot is provided with 6 degrees-of-freedom joints, and the precise synchronization of the space track is realized through real-time communication and a dynamic compensation algorithm. The structure breaks through the space limitation of single robot operation, and can finish the continuous welding of complex curved surfaces, such as three-dimensional workpieces of oil tanks, ship structural members and the like, through multi-axis linkage. The laser locating welding device for the panel computer structural part comprises a base, a welding driving mechanism, a welding machine body, a positioning mechanism and a positioning plate, wherein the base is used for supporting the whole device, the welding driving mechanism is used for driving a welding machine to weld the panel computer structural part, one side of the welding machine body is provided with a welding head, one side of the welding head is provided with a plurality of laser locating sensors, the positioning mechanism is used for fixing the panel computer structural part, the positioning mechanism can deflect the panel computer structural part by a certain angle so as to meet the complex welding requirements of more welding spots, and the positioning plate is used for enabling the positioning mechanism to rapidly perform origin location after fixing the panel computer structural part. As described in the above proposal, the double-robot laser locating welding device has great advantages when performing multi-angle three-dimensional workpiece welding work, but the matching relationship between workpieces is complex and non-uniform, especially the welding matching relationship between non-standard workpieces, and a plurality of groups of clamps and manual matching are needed for fixing, which is time-consuming and labor-consuming. Disclosure of utility model In order to solve the problem that positioning and matching are difficult in a complex three-dimensional workpiece welding process, the utility model provides a double-robot laser locating welding device for solving the problem. In order to achieve the above purpose, the present utility model provides the following technical solutions: The double-robot laser locating welding device comprises a control base, laser locating welding mechanical arms, an arc-shaped sliding frame, horizontal fixing clamps and sliding clamps, wherein the arc-shaped sliding frame is fixedly arranged on the control base, the laser locating welding mechanical arms are provided with two groups, the two groups of laser locating welding mechanical arms are arranged on two sides of the control base in a sliding mode, the two groups of laser locating welding mechanical arms are respectively arranged on two sides of the arc-shaped sliding frame, the horizontal fixing clamps are arranged on the control base in a sliding mode, and the sliding clamps are fixedly arranged on the arc-shaped sliding frame. Preferably, the control base comprises a control base, a clamping base, a mechanical arm moving base, a driving shaft rod, a driving motor and a horizontal clamp rod, wherein the control base is fixedly arranged on the clamping base, the horizontal clamp rod is matched with the control base, a horizontal clamping groove and an arc-shaped storage groove are formed in the clamping base, the arc-shaped sliding frame is matched with the arc-shaped storage groove, a fixed clamp base is fixedly arranged on the horizontal clamping groove, two groups of driving sliding grooves are formed in the clamping base, the driving sliding grooves are arranged on two sides of the horizontal clamping groove, the driving shaft rod is rotatably arranged in the driving sliding grooves, the output end of the driving motor is fixedly arranged on the driving shaft rod, the mechanical arm moving base is matched with the driving shaft rod, the laser locating welding mechanical arm is matched with the mechanical arm moving base, and the horizontal fixing clamp is matched with the horizontal clamp rod. Preferably, the horizontal fixing clamp comprises a horizontal frame, a first semicircular abutting joint, a second semicircular abutting joint and a third semicircular abutting joint, wherein the horizontal frame is matched with a horizontal clamp rod, a plurality of groups of first arc-shaped grooves are formed in the horizontal frame,