CN214161943U - Automatic welding device based on 3D profile sensor - Google Patents

Abstract

The utility model discloses an automatic welding device based on a 3D contour sensor, which comprises a linkage mechanism, a welding machine, a welding gun, a 3D welding line curve extraction sensor and a fixture for installing the welding gun and the 3D welding line curve extraction sensor, wherein the linkage mechanism comprises a shaft linkage mechanism, a two-shaft linkage mechanism, a three-shaft linkage mechanism, a four-shaft linkage mechanism, a five-shaft linkage mechanism and a six-shaft linkage mechanism, the one-shaft linkage mechanism comprises a shaft guide rail, a sliding table base and a shaft driving device, the three-shaft linkage mechanism comprises a three-shaft guide rail, a cross sliding table and a three-shaft driving device, the four-shaft linkage mechanism comprises a four-shaft guide rail and a four-shaft driving device, the two ends of the four-shaft guide rail are respectively provided with the welding machine and a front arm, the end of the front arm is fixed with the five-shaft linkage mechanism, the bottom end of the five-shaft linkage mechanism is fixed with the six-shaft linkage mechanism, the utility model has more flexible requirements on the arrangement position of a welding workpiece, the welding fixture is fixed without a special positioning tool, and is suitable for welding small batches or single large-scale workpieces.

Description

Automatic welding device based on 3D profile sensor

Technical Field

The utility model relates to a welding equipment technical field specifically is an automatic welder based on 3D profile sensor.

Background

Along with the development of modern industry, automated production is more and more popularized, and automatic production equipment has also obtained more extensive use, and the degree of automation of equipment is also more and more high, and the precision requirement of production facility during operation is also more and more high to many complicated weldment work are handed by automatic welding equipment now and are carried out, and this brings welding error scheduling problem when having removed manual welding from.

However, various automatic welding equipments are mostly used for welding a large number of workpieces in the same batch, and are less applied to small batches or single large-scale workpieces, because the requirement for the positioning consistency of the workpieces is high, the use of automatic welding on the small batch of workpieces is limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic welder based on 3D profile sensor to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an automatic welder based on 3D profile sensor, includes link gear, welding machine, welder, 3D welding seam curve and draws the sensor and be used for installing welder and 3D welding seam curve and draw the anchor clamps of sensor, link gear includes a link gear, two link gear, three-axis link gear, four-axis link gear, five-axis link gear and six-axis link gear, a link gear includes a guide rail, slip table base and a drive arrangement, the slip table base passes through a drive arrangement sliding connection on a guide rail, two-axis link gear is two-axis rotary device, and two-axis rotary device erects on the slip table base and can rotate 360 on the horizontal plane, three-axis link gear includes three-axis guide rail, cross slip table and three-axis drive arrangement, three-axis guide rail erects on two-axis rotary device and is perpendicular with the slip table base, the cross sliding table is connected to the three-axis guide rail in a sliding mode through the three-axis driving device, the four-axis linkage mechanism comprises a four-axis guide rail and a four-axis driving device, the four-axis guide rail is installed on the cross sliding table and perpendicular to the three-axis guide rail, the four-axis guide rail is connected to the cross sliding table in a sliding mode through the four-axis driving device, a welding machine and a forearm are arranged at two ends of the four-axis guide rail respectively, a five-axis linkage mechanism is fixed to the end of the forearm, the five-axis linkage mechanism is driven by five axes, a six-axis linkage mechanism is fixed to the bottom end of the five-axis drive, the six-axis linkage mechanism can move up and down along the end portion of the five-axis drive through the five-axis drive, the six-axis linkage mechanism is driven by six axes, a clamp is arranged on the six-axis drive, and the clamp can rotate 360 degrees in the horizontal direction through the six-axis drive;

the fixture comprises an L-shaped fixing clamp, two adjusting shafts which are respectively connected to the bottom end of the fixing clamp in a rotating mode from top to bottom, a fixing disc sleeved on the adjusting shaft at the bottom, a first fixture and a second fixture which are respectively fixed on the fixing disc and are right-angled, and two adjusting gears which are respectively sleeved on the two adjusting shafts and are meshed with each other, wherein the adjusting shaft at the top is connected with a driving motor through a coupler; two anchor clamps are including fixing sleeve one, the cover on the fixed disk and establishing sleeve two in sleeve one and fixing the tensioning spring on the inside top of tensioning spring, the open end of sleeve two is located sleeve one, and the other end of sleeve two offers the spacing hole that draws sensor looks adaptation with the 3D welding seam curve, the equidistant second centre gripping torsional spring that is used for centre gripping 3D welding seam curve to draw the sensor that encircles of inner wall of sleeve two open ends, the 3D welding seam curve draws the sensor to be connected with the main control system through wireless transmission.

Preferably, the adjusting shaft is further rotatably connected with a graduated scale, and the bottom end of the graduated scale and the bottom end of the welding gun fixed on the first fixture are located on the same horizontal line.

Preferably, the inner wall of the first sleeve is in threaded connection with the outer wall of the second sleeve.

The use method of the automatic welding device based on the 3D contour sensor comprises the following steps:

step one, correspondingly installing a welding gun and a 3D welding line curve extraction sensor in a first clamp and a second clamp, then rotating a graduated scale to the position where the 3D welding line curve extraction sensor is located, adjusting the length of the second clamp to enable the end part of the 3D welding line curve extraction sensor to be overlapped with the end part of the 3D welding line curve extraction sensor, and after debugging is finished, placing a workpiece to be welded in a welding area;

step two, starting the driving motor to drive the adjusting shaft to rotate, driving the fixed disc to rotate clockwise by 90 degrees under the matching of the two adjusting gears so that the 3D welding line curve extraction sensor rotates to the initial position of the welding gun, and stopping the driving motor when the 3D welding line curve extraction sensor rotates to the initial position of the welding gun;

starting a linkage mechanism to enable a 3D welding line curve extraction sensor to slide along a welding line on a workpiece, and wirelessly transmitting a three-dimensional coordinate of an automatically recorded and extracted welding line curve to a control host computer, wherein the control host computer can automatically analyze and process the three-dimensional coordinate of the 3D welding line curve extraction sensor welding line space and fit and compile the three-dimensional coordinate into a motion trail program required by the linkage mechanism;

and fourthly, starting the driving motor again to enable the welding gun to rotate to the initial position, then starting the linkage mechanism again, realizing the action of the welding gun by executing a track program and realizing automatic welding by matching with the setting of the parameters of the welding machine.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses utilize 3D welding seam curve to draw the welding seam slip on the sensor along the work piece, and pass through wireless transmission to main control system with the three-dimensional coordinate of the welding seam curve that automatic recording was drawed, main control system can come from 3D welding seam curve to draw the required motion trail procedure of above-mentioned link gear is compiled into in the automatic analytic processing, make its three-dimensional space coverage big, can weld the work piece of equidimension not, and it is more nimble to require welding work piece locating position, only fixed can, need not special location frock, be applicable to and carry out accurate welding to small batch or independent large-scale work piece.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the structure of the portion A in FIG. 1

FIG. 3 is a schematic view of the fixing clip;

FIG. 4 is a schematic view showing the installation position relationship of the first fixing clip and the second fixing clip;

FIG. 5 is a schematic view of the installation of a 3D weld curve extraction sensor.

In the figure: 1. a shaft guide; 2. a sliding table base; 3. a shaft driving device; 4. a biaxial rotation device; 5. a three-axis guide rail; 6. a cross sliding table; 7. four-axis guide rails; 8. a welding machine; 9. a three-axis drive; 10. a four-axis drive device; 11. a forearm; 12. five-axis driving; 13. six-shaft driving; 14. a fixing clip; 15. a welding gun; 16. a workpiece; 17. welding seams; 18. a 3D weld curve extraction sensor; 19. a control host; 20. an adjustment shaft; 21. an adjusting gear; 22. a first clamp; 23. a fixture fixing seat; 2301. fixing the clamp seat; 2302. fixing the cover body; 2303. a first clamping torsion spring; 24. a second clamp; 2401. a first sleeve; 2402. a second sleeve; 2403. a second clamping torsion spring; 2404. tensioning the spring; 25. a graduated scale; 26. and (7) fixing the disc.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, an automatic welding device based on a 3D profile sensor comprises a linkage mechanism, a welding machine 8, a welding gun 15, a 3D weld curve extraction sensor 18 and a fixture for mounting the welding gun 15 and the 3D weld curve extraction sensor 18, wherein the linkage mechanism comprises a first shaft linkage mechanism, a second shaft linkage mechanism, a third shaft linkage mechanism, a fourth shaft linkage mechanism, a fifth shaft linkage mechanism and a sixth shaft linkage mechanism, the first shaft linkage mechanism comprises a first shaft guide rail 1, a sliding table base 2 and a first shaft driving device 3, the sliding table base 2 is connected to the first shaft guide rail 1 in a sliding manner through the first shaft driving device 3, the second shaft linkage mechanism is a second shaft rotating device 4, the second shaft rotating device 4 is erected on the sliding table base 2 and can rotate 360 degrees on a horizontal plane, the third shaft linkage mechanism comprises a third shaft guide rail 5, a cross sliding table 6 and a third shaft driving device 9, the three-axis guide rail 5 is erected on the two-axis rotating device 4 and is perpendicular to the sliding table base 2, the cross sliding table 6 is connected to the three-axis guide rail 5 in a sliding manner through a three-axis driving device 9, the four-axis linkage mechanism comprises a four-axis guide rail 7 and a four-axis driving device 10, the four-axis guide rail 7 is installed on the cross sliding table 6 and is perpendicular to the three-axis guide rail 5, the four-axis guide rail 7 is connected to the cross sliding table 6 in a sliding manner through the four-axis driving device 10, a welding machine 8 and a front arm 11 are respectively arranged at two ends of the four-axis guide rail 7, a five-axis linkage mechanism is fixed at the end of the front arm 11 and is driven by five axes 12, a six-axis linkage mechanism is fixed at the bottom end of the five-axis drive 12, the six-axis linkage mechanism can move up and down along the end of the five-axis drive 12 through the five-axis drive 12, the six-axis linkage mechanism is driven by six axes 13, and a clamp is arranged on the six-axis drive 13, the clamp is rotatable 360 ° in the horizontal direction by means of a six-axis drive 13;

the clamp comprises an L-shaped fixing clamp 14, two adjusting shafts 20 which are respectively connected to the bottom end of the fixing clamp 14 in a rotating mode from top to bottom, a fixed disc 26 sleeved on the adjusting shaft 20 positioned at the lowest part, a first clamp 22 and a second clamp 24 which are respectively fixed on the fixed disc 26 and are in a right angle, and two adjusting gears 21 which are respectively sleeved on the two adjusting shafts 20 and are mutually meshed, the adjusting shaft 20 positioned at the top is connected with a driving motor through a coupler, the first clamp 22 comprises a fixed plate and a clamp fixing seat 23 fixed on the side wall of the bottom end of the fixed plate, and the fixture fixing seat 23 sequentially comprises a fixing clamp seat 2301 and a fixing cover 2302 in threaded connection with the fixing clamp seat 2301 from bottom to top, the center positions of the fixed holder 2301 and the fixed cover 2302 are both provided with through holes matched with the welding gun 15, a first clamping torsion spring 2303 for clamping the welding gun 15 is annularly arranged at the upper end of the fixed cover body 2302 at equal intervals; the second clamp 24 comprises a first sleeve 2401 fixed on the fixed disc 26, a second sleeve 2402 sleeved in the first sleeve 2401 and a tension spring 2404 fixed on the inner top of the tension spring 2404, the open end of the second sleeve 2402 is located in the first sleeve 2401, the other end of the second sleeve 2402 is provided with a limiting hole matched with the 3D weld curve extraction sensor 18, the inner wall of the open end of the second sleeve 2402 is provided with a second clamping torsion spring 2403 used for clamping the 3D weld curve extraction sensor 18 in an equidistant mode, and the 3D weld curve extraction sensor 18 is connected with the control host 19 through wireless transmission.

In this embodiment, the adjusting shaft 20 is further rotatably connected with a graduated scale 25, and the bottom end of the graduated scale 25 and the bottom end of the welding gun 15 fixed on the first fixture are located on the same horizontal line.

In this embodiment, the inner wall of the first sleeve 2401 is in threaded connection with the outer wall of the second sleeve 2402.

The welding process of the automatic welding device based on the 3D contour sensor comprises the following steps:

step one, correspondingly installing a welding gun 15 and a 3D welding line curve extraction sensor 18 in a first clamp 22 and a second clamp 24, then rotating a graduated scale 25 to a position where the 3D welding line curve extraction sensor 18 is located, adjusting the length of the second clamp 24 to enable the end part of the 3D welding line curve extraction sensor 18 to be overlapped with the end part of the third clamp 55, and after debugging is finished, placing a workpiece 16 to be welded in a welding area;

step two, starting the driving motor to drive the adjusting shaft 20 to rotate, driving the fixed disc 26 to rotate clockwise by 90 degrees under the coordination of the two adjusting gears 21 so as to enable the 3D welding line curve extraction sensor 18 to rotate to the initial position of the welding gun 15, and stopping the driving motor when the 3D welding line curve extraction sensor 18 rotates to the initial position of the welding gun 15;

step three, starting a linkage mechanism to enable a 3D welding line curve extraction sensor 18 to slide along a welding line 17 on a workpiece 16, wirelessly transmitting three-dimensional coordinates of an automatically recorded and extracted welding line curve to a control host 19, and enabling the control host 19 to automatically analyze and process the three-dimensional coordinates of the welding line space of the 3D welding line curve extraction sensor 18 and fit and compile the three-dimensional coordinates into a motion trail program required by the linkage mechanism;

and step four, starting the driving motor again to enable the welding gun 15 to rotate to the initial position, then starting the linkage mechanism again, realizing the action of the welding gun 15 by executing a track program and realizing automatic welding by matching with the setting of the parameters of the welding machine 8.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (3)

1. The utility model provides an automatic welder based on 3D profile sensor which characterized in that: comprises a linkage mechanism, a welding machine (8), a welding gun (15), a 3D welding curve extraction sensor (18) and a fixture for installing the welding gun (15) and the 3D welding curve extraction sensor (18), wherein the linkage mechanism comprises a shaft linkage mechanism, a two-shaft linkage mechanism, a three-shaft linkage mechanism, a four-shaft linkage mechanism, a five-shaft linkage mechanism and a six-shaft linkage mechanism, the one-shaft linkage mechanism comprises a shaft guide rail (1), a sliding table base (2) and a shaft driving device (3), the sliding table base (2) is connected on the shaft guide rail (1) in a sliding way through the shaft driving device (3), the two-shaft linkage mechanism is a two-shaft rotating device (4), the two-shaft rotating device (4) is erected on the sliding table base (2) and can rotate 360 degrees on the horizontal plane, the three-shaft linkage mechanism comprises a three-shaft guide rail (5), a cross sliding table (6) and a three-shaft driving device (9), triaxial guide rail (5) erect on two-axis rotary device (4) and perpendicular with slip table base (2), cross slip table (6) are through triaxial drive arrangement (9) sliding connection on triaxial guide rail (5), four-axis linkage mechanism includes four-axis guide rail (7) and four-axis drive arrangement (10), and four-axis guide rail (7) install on cross slip table (6) and perpendicular with triaxial guide rail (5), four-axis guide rail (7) are through four-axis drive arrangement (10) sliding connection on cross slip table (6), and the both ends of four-axis guide rail (7) are equipped with welding machine (8) and forearm (11) respectively, the end of forearm (11) is fixed with five-axis link gear, and five-axis link gear is five-axis drive (12), the bottom mounting of five-axis drive (12) has six-axis linkage mechanism, and six-axis linkage mechanism can follow on the tip of five-axis drive (12) through five-axis drive (12), The six-axis linkage mechanism is a six-axis drive (13), a clamp is arranged on the six-axis drive (13), and the clamp can rotate 360 degrees in the horizontal direction through the six-axis drive (13);

the fixture comprises an L-shaped fixing clamp (14), two adjusting shafts (20) which are respectively connected to the bottom end of the fixing clamp (14) in a rotating mode from top to bottom, a fixing disc (26) sleeved on the adjusting shaft (20) positioned at the bottom, a first fixture (22) and a second fixture (24) which are respectively fixed on the fixing disc (26) and are right-angled, and two adjusting gears (21) which are respectively sleeved on the two adjusting shafts (20) and are mutually meshed, wherein the adjusting shaft (20) positioned at the top is connected with a driving motor through a coupler, the first fixture (22) comprises a fixing plate and a fixture fixing seat (23) fixed on the side wall of the bottom end of the fixing plate, the fixture fixing seat (23) sequentially comprises a fixing cover body (2302) in threaded connection with the fixing clamp seat (2301) from bottom to top, through holes matched with a welding gun (15) are formed in the central positions of the fixing clamp seat (2301) and the fixing cover body (2302), a first clamping torsion spring (2303) for clamping a welding gun (15) is annularly arranged at the upper end of the fixed cover body (2302) at equal intervals; anchor clamps two (24) are including fixing sleeve one (2401), the cover on fixed disk (26) and establishing sleeve two (2402) in sleeve one (2401) and fixing tensioning spring (2404) on tensioning spring (2404) inside top, the open end of sleeve two (2402) is located sleeve one (2401), and the other end of sleeve two (2402) offer and draw the spacing hole of sensor (18) looks adaptation with 3D welding seam curve, the inner wall equidistant ring of sleeve two (2402) open end is equipped with second centre gripping torsional spring (2403) that is used for centre gripping 3D welding seam curve to draw sensor (18), 3D welding seam curve draws sensor (18) and is connected with main control system (19) through wireless transmission.

2. The 3D profile sensor based automatic welding device according to claim 1, characterized in that: the adjusting shaft (20) is further rotatably connected with a graduated scale (25), and the bottom end of the graduated scale (25) and the bottom end of a welding gun (15) fixed on the first fixture are located on the same horizontal line.

3. The 3D profile sensor based automatic welding device according to claim 1, characterized in that: the inner wall of the first sleeve (2401) is in threaded connection with the outer wall of the second sleeve (2402).

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