CN109317881A - A mechanical contact welding seam tracking detection system and method - Google Patents
A mechanical contact welding seam tracking detection system and method Download PDFInfo
- Publication number
- CN109317881A CN109317881A CN201811432469.7A CN201811432469A CN109317881A CN 109317881 A CN109317881 A CN 109317881A CN 201811432469 A CN201811432469 A CN 201811432469A CN 109317881 A CN109317881 A CN 109317881A
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- position sensor
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- mechanical contact
- fixing sleeve
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- 238000003466 welding Methods 0.000 title claims abstract description 65
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title abstract description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
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
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
本发明公开了一种机械接触式焊缝跟踪检测系统及方法，检测系统的特征是：左右位置传感器设置在固定套内腔的中部，水平导杆穿过水平滑孔，所述上下位置传感器设置在连接套内腔的中上部，所述上下位置传感器与固定套之间通过竖直弹簧相连接，所述机座内设有水平方向的槽孔，所述槽孔内对称的设置有滚轮座，所述滚轮座的下端固定有滚轮，所述滚轮的侧面为与V形剖口相适配的锥面。检测方法包括：调整滚轮之间的间距；控制系统左右位置传感器和上下位置传感器的位置信号，当发生偏差，控制系统发出调整信号。本发明通过机械接触原理实现焊缝的追踪和纠偏，具有准确性好、结构简单、抗干扰能力强的优点。
The invention discloses a mechanical contact type welding seam tracking detection system and method. The detection system is characterized in that: left and right position sensors are arranged in the middle of the inner cavity of a fixed sleeve, a horizontal guide rod passes through a horizontal sliding hole, and the upper and lower position sensors are arranged In the middle and upper part of the inner cavity of the connecting sleeve, the upper and lower position sensors and the fixing sleeve are connected by a vertical spring, a horizontal slot hole is arranged in the machine base, and a roller seat is symmetrically arranged in the slot hole. , the lower end of the roller seat is fixed with a roller, and the side surface of the roller is a conical surface that is adapted to the V-shaped cutout. The detection method includes: adjusting the distance between the rollers; controlling the position signals of the left and right position sensors and the upper and lower position sensors of the system, and when a deviation occurs, the control system sends out an adjustment signal. The invention realizes the tracking and deviation correction of the welding seam through the principle of mechanical contact, and has the advantages of good accuracy, simple structure and strong anti-interference ability.
Description
Technical field
The invention belongs to automatic welding technique fields, and in particular to a kind of mechanical contact weld joint tracking detection system and
Method.
Background technique
In the industrial robot in the existing whole world, there is 50 percent industrial robot to be applied to different welding fields, welding
There are electric welding and two kinds of basic modes of arc welding in robot.The main work taken up of welding robot is to replace in welding field
The industrial robot that worker is welded manually.A part in this kind of robots is exclusive robot, is in order to suitable
The special machine people to work under certain specific environment, most welding robot are by installing on conventional industrial robot
Soldering apparatus composition.It requires worker that can have enough proficiencys to weld task in welding processing this aspect, has a large amount of real
Experience is trampled, on the other hand, welding is that a kind of work situation is severe again, and flue dust is more, radiation and the high work of risk,
The invention of welding robot allows it is thought that going it that worker to be replaced to weld manually and mitigating the amount of labour of operator, and protect
Weld task quality is demonstrate,proved, welding efficiency is improved.
When robot is welded, the tracking and correction that carry out weld seam are generally required, avoids occurring welding partially, existing skill
Art mostly uses CCD camera to be tracked greatly, but the strong light that occurs, electric and magnetic fields can be to the figures of CCD camera when welding
It is interfered as acquiring, influences the accuracy of imaging.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of mechanical contact weld joint tracking detection is provided
System and method.
A kind of mechanical contact weld joint tracking detection system, including left-right position sensor, upper and lower position sensor, rolling
Wheel, shaft, it is characterised in that: the middle part of fixing sleeve inner cavity, the left-right position sensing is arranged in the left-right position sensor
Device is equipped with the compatible horizontal slide opening of horizontal guide, and horizontal guide passes through horizontal slide opening, and the both ends of horizontal guide are fixed on
Surely on the inner wall covered, horizontal spring, the upper and lower position are set between one end of left-right position sensor and the inner wall of fixing sleeve
The middle and upper part of inner cavity of connecting sleeve is arranged in sensor, and the upper and lower position covers disposed on sensor has compatible with vertical guide rod vertical
Slide opening, vertical guide rod pass through vertical slide opening, and the lower end of vertical guide rod is connected with base, upper end passes through the circle on fixing sleeve top plate
Hole is connected between the upper and lower position sensor and fixing sleeve by uprighting spring, the inner wall and connector sleeve of the fixing sleeve
Outer wall be adapted, the connector sleeve is fixed on base, is equipped with the slot of horizontal direction in the base, right in the slot
What is claimed is provided with roller mount, thread bush is fixed in the roller mount, the lower end of the roller mount is stretched out out of base, the rolling
The lower end of wheel seat is fixed with idler wheel, and the side of the idler wheel is the conical surface compatible with V-arrangement groove, the thread bush and screw rod spiral shell
Line connection, the shaft are connected with welding gun.
Preferably, the end of the screw rod is stretched out out of base, and the end of screw rod is equipped with handwheel.
Preferably, the shaft is inserted into bearing, and bearing is fixed on the top of fixing sleeve by support frame.
A kind of mechanical contact weld joint tracking detection method, which comprises the steps of:
S1, rotation handwheel, adjust the spacing between idler wheel, so that the conical surface of idler wheel is inserted into V-arrangement groove；
S2, welding gun and detection system move welding along V-arrangement groove under the driving of welding robot；
S3, control system monitor the left-right position signal of left-right position sensor first, when a left side of the left-right position without departing from setting
When right avertence difference, control system monitors the upper and lower position signal of upper and lower position sensor again, when upper and lower position is also without departing from setting
When fixed deviation up and down, control system does not issue welding torch position adjustment signal to welding robot, and welding robot is by setting
Welding track continue to weld；
In S4, step S3, if left-right position is beyond the left-right deviation value set, control system issues to the left to welding robot
Or the signal of welding torch position is adjusted to the right, then carry out the upper and lower position signal of upper and lower position sensor；
In S5, step S3, if upper and lower position beyond setting deviation up and down, control system to welding robot issue upwards or
The signal of adjustment welding torch position downwards.
Preferably, in step S3, the monitoring process of left-right position signal is: when left-right position deviation occurs, detection system
System deflects, and left-right position sensor is slided along horizontal guide under gravity, when the distance of sliding is beyond setting
When left-right deviation value, control system issues the signal of adjustment welding torch position to the left or to the right to welding robot.
Preferably, in step S3, the monitoring process of upper and lower position signal is: when upper and lower position deviation occurs, fixing sleeve
Relative displacement occurs between connector sleeve, upper and lower position sensor slides along vertical guide rod, when the distance of sliding is beyond setting
Deviation up and down when, control system to welding robot issue upward or downward adjust welding torch position signal.
Compared with prior art, beneficial effects of the present invention:
The present invention realizes the tracking and correction of weld seam by Mechanical Contact principle, and strong light, magnetic field and the electric field when welding are to tracking
Process has the advantages that accuracy is good, structure is simple, strong antijamming capability without influence.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of mechanical contact weld joint tracking detection system of the present invention.
Fig. 2 is the schematic cross-sectional view in the direction A-A in Fig. 1.
In figure, 1, fixing sleeve, 2, horizontal spring, 3, horizontal guide, 4, left-right position sensor, 5, vertical guide rod, 6, perpendicular
Straight spring, 7, upper and lower position sensor, 8, connector sleeve, 9, base, 10, roller mount, 11, thread bush, 12, idler wheel, 13, screw rod,
14, handwheel, 15, shaft, 16, bearing.
Specific embodiment
Referring to Fig. 1, Fig. 2, a kind of mechanical contact weld joint tracking detection system, including left-right position sensor 4, upper bottom
Set sensor 7, idler wheel 12, shaft 15, it is characterised in that: the left-right position sensor 4 is arranged in 1 inner cavity of fixing sleeve
Portion, the left-right position sensor 4 are equipped with the compatible horizontal slide opening of horizontal guide 3, and horizontal guide 3 passes through horizontal slide opening,
The both ends of horizontal guide 3 are fixed on the inner wall of fixing sleeve 1, between one end of left-right position sensor 4 and the inner wall of fixing sleeve 1
Horizontal spring 2 is set, and the middle and upper part of 8 inner cavity of connector sleeve, the upper and lower position sensor is arranged in the upper and lower position sensor 7
7 are equipped with vertical slide opening compatible with vertical guide rod 5, and vertical guide rod 5 passes through vertical slide opening, the lower end of vertical guide rod 5 and machine
Seat 9 is connected, upper end passes through the circular hole on 1 top plate of fixing sleeve, by perpendicular between the upper and lower position sensor 7 and fixing sleeve 1
Straight spring 6 is connected, and the inner wall of the fixing sleeve 1 is adapted with the outer wall of connector sleeve 8, and the connector sleeve 8 is fixed on base 9
On, it is equipped with the slot of horizontal direction in the base 9, is symmetrically arranged with roller mount 10, the roller mount 10 in the slot
It is inside fixed with thread bush 11, the lower end of the roller mount 10 is stretched out out of base 9, and the lower end of the roller mount 10 is fixed with idler wheel
12, the side of the idler wheel 12 is the conical surface compatible with V-arrangement groove, and the thread bush 11 is threadedly coupled with screw rod 13, described
Shaft 15 is connected with welding gun.
For hand of spiral on symmetrical thread bush 11 on the contrary, in adjusting handle 14, symmetrical idler wheel 12 can be to center
Close to or far from holding idler wheel 12 can be symmetrical with the center line of system always.
The end of the screw rod 13 is stretched out out of base 9, and the end of screw rod 13 is equipped with handwheel 14.
The shaft 15 is inserted into bearing 16, and bearing 16 is fixed on the top of fixing sleeve 1 by support frame.
A kind of mechanical contact weld joint tracking detection method, which comprises the steps of:
S1, rotation handwheel 14, adjust the spacing between idler wheel 12, so that the conical surface of idler wheel 12 is inserted into V-arrangement groove；
S2, welding gun and detection system move welding along V-arrangement groove under the driving of welding robot；
S3, control system monitor the left-right position signal of left-right position sensor 4 first, when a left side of the left-right position without departing from setting
When right avertence difference, control system monitors the upper and lower position signal of upper and lower position sensor 7 again, when upper and lower position is also without departing from setting
When fixed deviation up and down, control system does not issue welding torch position adjustment signal to welding robot, and welding robot is by setting
Welding track continue to weld；
In S4, step S3, if left-right position is beyond the left-right deviation value set, control system issues to the left to welding robot
Or the signal of welding torch position is adjusted to the right, then carry out the upper and lower position signal of upper and lower position sensor 7；
In S5, step S3, if upper and lower position beyond setting deviation up and down, control system to welding robot issue upwards or
The signal of adjustment welding torch position downwards.
In step S3, the monitoring process of left-right position signal is: when left-right position deviation occurs, detection system occurs inclined
Turn, left-right position sensor 4 is slided along horizontal guide 3 under gravity, when the distance of sliding is inclined beyond the left and right of setting
When difference, control system issues the signal of adjustment welding torch position to the left or to the right to welding robot.
In step S3, the monitoring process of upper and lower position signal is: when upper and lower position deviation occurs, fixing sleeve 1 with connect
Relative displacement occurs between set 8, upper and lower position sensor 7 slides along vertical guide rod 5, when the distance of sliding is beyond the upper of setting
When lower deviation value, control system issues the signal for adjusting welding torch position upward or downward to welding robot.
Technical solution of the present invention is exemplarily described invention above in conjunction with attached drawing, it is clear that present invention specific implementation
It is not subject to the restrictions described above, changes as long as using the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out
Into, or it is not improved the conception and technical scheme of invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (6)
1. a kind of mechanical contact weld joint tracking detection system, including left-right position sensor (4), upper and lower position sensor (7),
Idler wheel (12), shaft (15), it is characterised in that: the left-right position sensor (4) is arranged at the middle part of fixing sleeve (1) inner cavity,
The left-right position sensor (4) is equipped with horizontal guide (3) compatible horizontal slide opening, and horizontal guide (3) passes through horizontal sliding
The both ends in hole, horizontal guide (3) are fixed on the inner wall of fixing sleeve (1), one end of left-right position sensor (4) and fixing sleeve
(1) horizontal spring (2) are set between inner wall, on the upper and lower position sensor (7) is arranged in connector sleeve (8) inner cavity
Portion, the upper and lower position sensor (7) are equipped with vertical guide rod (5) compatible vertical slide opening, and vertical guide rod (5) passes through perpendicular
Straight slide opening, the lower end of vertical guide rod (5) is connected with base (9), upper end passes through the circular hole on fixing sleeve (1) top plate, it is described on
It is connected between lower position sensor (7) and fixing sleeve (1) by uprighting spring (6), the inner wall of the fixing sleeve (1) and connection
The outer wall of set (8) is adapted, and the connector sleeve (8) is fixed on base (9), and the slot of horizontal direction is equipped in the base (9)
Hole is symmetrically arranged with roller mount (10) in the slot, is fixed with thread bush (11), the idler wheel in the roller mount (10)
The lower end of seat (10) is stretched out out of base (9), and the lower end of the roller mount (10) is fixed with idler wheel (12), the idler wheel (12)
Side is the conical surface compatible with V-arrangement groove, and the thread bush (11) is threadedly coupled with screw rod (13), the shaft (15) and weldering
Rifle is connected.
2. a kind of mechanical contact weld joint tracking detection system as described in claim 1, it is characterised in that: the screw rod (13)
End stretch out out of base (9), the end of screw rod (13) is equipped with handwheel (14).
3. a kind of mechanical contact weld joint tracking detection system as described in claim 1, it is characterised in that: the shaft (15)
It is inserted into bearing (16), bearing (16) is fixed on the top of fixing sleeve (1) by support frame.
4. a kind of a kind of mechanical contact weld joint tracking detection method as described in claim 1, which is characterized in that including as follows
Step:
S1, rotation handwheel (14), adjust the spacing between idler wheel (12), so that the conical surface of idler wheel (12) is inserted into V-arrangement groove；
S2, welding gun and detection system move welding along V-arrangement groove under the driving of welding robot；
S3, control system monitor the left-right position signal of left-right position sensor (4) first, when left-right position is without departing from setting
When left-right deviation value, control system monitors the upper and lower position signal of upper and lower position sensor (7) again, when upper and lower position is also without super
When the deviation up and down set out, control system does not issue welding torch position adjustment signal to welding robot, and welding robot is pressed
The welding track of setting continues to weld；
In S4, step S3, if left-right position is beyond the left-right deviation value set, control system issues to the left to welding robot
Or the signal of welding torch position is adjusted to the right, then carry out the upper and lower position signal of upper and lower position sensor (7)；
In S5, step S3, if upper and lower position beyond setting deviation up and down, control system to welding robot issue upwards or
The signal of adjustment welding torch position downwards.
5. a kind of a kind of mechanical contact weld joint tracking detection method as claimed in claim 4, it is characterised in that: step S3
In, the monitoring process of left-right position signal is: when left-right position deviation occurs, detection system deflects, and left-right position passes
Sensor (4) is slided along horizontal guide (3) under gravity, when left-right deviation value of the distance of sliding beyond setting, control
System processed issues the signal of adjustment welding torch position to the left or to the right to welding robot.
6. a kind of a kind of mechanical contact weld joint tracking detection method as claimed in claim 4, it is characterised in that: step S3
In, the monitoring process of upper and lower position signal is: when upper and lower position deviation occurs, occurring between fixing sleeve (1) and connector sleeve (8)
Relative displacement, upper and lower position sensor (7) slide along vertical guide rod (5), when the distance of sliding is beyond the upper lower deviation of setting
When value, control system issues the signal for adjusting welding torch position upward or downward to welding robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811432469.7A CN109317881A (en) | 2018-11-28 | 2018-11-28 | A mechanical contact welding seam tracking detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811432469.7A CN109317881A (en) | 2018-11-28 | 2018-11-28 | A mechanical contact welding seam tracking detection system and method |
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| Publication Number | Publication Date |
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| CN109317881A true CN109317881A (en) | 2019-02-12 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811432469.7A Pending CN109317881A (en) | 2018-11-28 | 2018-11-28 | A mechanical contact welding seam tracking detection system and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909778A (en) * | 2021-11-08 | 2022-01-11 | 中国船舶重工集团公司第七一六研究所 | Welding seam identification and welding combination device |
| CN114800622A (en) * | 2022-06-28 | 2022-07-29 | 江苏邑文微电子科技有限公司 | Semiconductor equipment mechanical arm deviation detection method and device |
| CN116295191A (en) * | 2023-05-22 | 2023-06-23 | 山东津岳环保设备有限公司 | Device for detecting axial offset of V-shaped girth weld of sealed tank and control method |
| CN119304456A (en) * | 2024-10-19 | 2025-01-14 | 浙江盛诚机械科技股份有限公司 | An automatic welding device for a cylindrical main furnace chamber of a single crystal furnace |
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| CN201104241Y (en) * | 2007-11-16 | 2008-08-20 | 北京石油化工学院 | Optoelectronic contact type welded seam tracing sensor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909778A (en) * | 2021-11-08 | 2022-01-11 | 中国船舶重工集团公司第七一六研究所 | Welding seam identification and welding combination device |
| CN113909778B (en) * | 2021-11-08 | 2024-09-03 | 中国船舶集团有限公司第七一六研究所 | Welding seam discernment and welding composite set |
| CN114800622A (en) * | 2022-06-28 | 2022-07-29 | 江苏邑文微电子科技有限公司 | Semiconductor equipment mechanical arm deviation detection method and device |
| CN116295191A (en) * | 2023-05-22 | 2023-06-23 | 山东津岳环保设备有限公司 | Device for detecting axial offset of V-shaped girth weld of sealed tank and control method |
| CN116295191B (en) * | 2023-05-22 | 2023-07-28 | 山东津岳环保设备有限公司 | Device for detecting axial offset of V-shaped girth weld of sealed tank and control method |
| CN119304456A (en) * | 2024-10-19 | 2025-01-14 | 浙江盛诚机械科技股份有限公司 | An automatic welding device for a cylindrical main furnace chamber of a single crystal furnace |
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