CN215091527U - Intelligent welding system of many varieties screen cloth - Google Patents
Intelligent welding system of many varieties screen cloth Download PDFInfo
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- CN215091527U CN215091527U CN202120894930.1U CN202120894930U CN215091527U CN 215091527 U CN215091527 U CN 215091527U CN 202120894930 U CN202120894930 U CN 202120894930U CN 215091527 U CN215091527 U CN 215091527U
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Abstract
The utility model relates to an intelligent welding system of many varieties screen cloth, including the modularization clamping device who is used for realizing many varieties screen cloth, be used for carrying out welding operation's robot welding subsystem and being used for discerning the welding point and carrying out the 2D vision subsystem of location according to the location, modularization clamping device is including returning font structural framework, return font structural framework and go up one end and be equipped with the tray that is used for as the screen cloth material strip, the other end is equipped with the fixed positioning piece, it presss from both sides tightly and activity background board mechanism to be equipped with a plurality of activities on the font structural framework, it still is equipped with a plurality of adjustable positioning mechanism and depression bar and locking mechanism respectively to return font structural framework and go up the left and right sides. Compared with the prior art, the utility model has the advantages of adopt the modularized design, mechanical structure can adapt to the welding demand of many varieties specification, also can satisfy different automated production rates through the configuration, simple structure, welding quality and efficiency improve, low in manufacturing cost.
Description
Technical Field
The utility model belongs to the technical field of the automotive production technique and specifically relates to an intelligent welding system of many varieties screen cloth is related to.
Background
The screen cloth for ore dressing is a main tool for screening various ore raw materials, and screen cloth with different specifications is used according to different requirements. The screen is distinguished according to the mesh is big, steel wire diameter (determining the intensity of screen) and screen appearance length and width, and the commonly used specification is as follows: diameter 6mm-20mm, mesh size 16mm-50mm, length 1000mm-3600mm, width: 800mm to 1200mm, and the combination thereof has a very large number of specifications.
The existing production process mostly adopts manual welding. The labor intensity of workers is high, the efficiency is low, and the operation is difficult in summer high heat and winter severe cold weather. Due to occupational hazards, the productivity of manufacturers is difficult to improve under the condition of difficult recruitment. Part of the processes adopt tools for welding, but the specifications of the produced products are not good, and the flexibility is not good. Part of the process equipment adopts special tools to realize multi-variety production, but the process equipment has no intelligence.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an intelligent welding system of many varieties screen cloth in order to overcome the defect that above-mentioned prior art exists, the new technology introduces intelligent recognition solder joint, and the synthesis of robotechnology is integrated. The problems of replacement of manual work, welding quality of various specifications and varieties and adaptability and stability of production equipment are better solved, and the technology is upgraded.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides an intelligent welding system of many varieties screen cloth, is including the modularization clamping device who is used for realizing many varieties screen cloth, the robot welding subsystem that is used for carrying out welding operation according to the location and the 2D vision subsystem that is used for discerning the welding point and go on fixing a position, modularization clamping device is including returning font structural framework, it is equipped with the tray that is used for as screen cloth material strip to return font structural framework last one end, and the other end is equipped with fixed positioning piece, it presss from both sides tightly and activity background board mechanism to be equipped with a plurality of activities on returning font structural framework, it still is equipped with a plurality of adjustable positioning mechanism and depression bar and locking mechanism respectively to return font structural framework and go up the left and right sides.
Further, the 2D vision subsystem comprises a light source for irradiating the object to be measured, an industrial computer for processing image data and a CCD industrial gigabit camera for acquiring the image data of the object to be measured, wherein the CCD industrial gigabit camera is connected with the industrial computer.
Further, the robot welding subsystem comprises a welding robot and an operation box connected with the welding robot, and the operation box is also connected with the industrial computer.
Furthermore, the movable clamp is arranged on the frame of the square-shaped structure and positioned between the support block and the fixed positioning block.
Furthermore, the movable background plate mechanism is vertically arranged on the frame of the square-shaped structure and is positioned below the screen mesh.
Further, the compression bar and the locking mechanism comprise bolt type lock catches used for providing clamping force for welding in a manual mode and preventing welding deformation.
Further, the pressure rod and the locking mechanism comprise a hydraulic cylinder which is used for providing clamping force for welding in an automatic mode so as to prevent welding deformation.
Furthermore, the adjustable positioning mechanism comprises a positioning plate which is arranged on the frame of the square-shaped structure in a sliding groove mode.
Furthermore, the positioning plate is provided with scale marks for assisting the width positioning of the screen.
Furthermore, the frame with the square-shaped structure is made of welded or building block splicing type sectional materials.
Compared with the prior art, the utility model has the advantages of it is following:
1) the utility model discloses a modular design, mechanical structure can adapt to the welding demand of many varieties specification, also can satisfy different automated production rates through the configuration.
2) The utility model discloses a camera guide path planning and robot automatic weld's combination, the robot replaces manual welding, camera automatic identification solder joint position, and intelligent guide is accurate, has solved manual welding quality and welding speed problem.
3) The utility model discloses simple structure, welding quality and efficiency improve, low in manufacturing cost, require to reduce to welding technical staff.
4) The utility model discloses it is flexible high, adapt to multiple specification net welding, have higher reliability and practicality.
5) The utility model discloses well camera and welder have certain contained angle, are favorable to reducing the smoke and dust among the welding process and splash and cause the camera lens to pollute.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the overall structure of a modular clamping device in the intelligent welding system for various screens according to the present invention;
FIG. 2 is a schematic diagram of the actual operation of the modular clamping device in the intelligent welding system for various screens according to the present invention;
FIG. 3 is a schematic diagram of a single tooling layout of the intelligent welding system for multiple varieties of screens of the present invention;
FIG. 4 is a schematic diagram of a dual tooling layout of the intelligent welding system for multiple varieties of screens of the present invention;
FIG. 5 is a schematic view of a multi-assembly cycle layout of the intelligent welding system for various types of screens of the present invention;
FIG. 6 is a structural diagram of a 2D vision subsystem in the intelligent welding system for various screens of the present invention;
in the figure, 1 is a frame with a square-shaped structure, 2 is a supporting block, 3 is a fixed positioning block, 4 is a movable clamp, 5 is a movable background plate mechanism, 6 is a positioning plate, 7 is a bolt type lock catch, 8 is a gasket, 9 is a hydraulic cylinder, 10 is a light source, 11 is a groove, 12 is a measured object, 13 is a CCD industrial kilomega camera, and 14 is an industrial computer.
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 some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
First, general technical scheme of embodiment
The utility model discloses entire system is by 1 modular clamping device, 2 marching type production technology, 3 intelligent robot welding system, 4.2D visual system, 5 upper computer system constitutes.
1. Modular clamping device
1) Frame bottom plate
The bottom frame bottom plate provides a mounting structure for laying and supporting welding workpieces and other functional modules;
welding or building block type sectional materials are adopted to form a multi-section zigzag structure; the replaceable copper bar is used as a support block 2 of the screen cloth material bar; the left side and the right side of the frame are provided with mounting seats of a positioning mechanism; the front of the frame is provided with a fixed positioning block 3, and the rear of the frame is provided with a movable clamp 4; a movable background plate mechanism 5 is arranged vertically below the frame (below the screen mesh);
the movable background plate mechanism 5 adopts a rocker-slider mechanism, and the main structure of the mechanism comprises a guide rod, a linear bearing, a rocker and the like. Manual and automatic manipulation modes can be adopted: the manual mode is set as a single-side operable rocker, and the automatic mode adopts a crank rocker mechanism driven by a motor to move for multiple positions and switch in a circulating way.
2) Adjustable positioning mechanism
The method comprises the following steps of (1) laterally positioning, wherein a plurality of independent positioning plates 6 are respectively arranged on two sides of the upper plane of a bottom plate of a bottom frame, sliding chutes are adopted, width scribed lines are engraved on the sliding chutes, and the corresponding scribed lines are adjusted according to the width of a welded screen; after one side is positioned, the other side is finely adjusted and then is locked by a locking bolt;
3) pressure lever and locking mechanism
The compression bar and the locking provide enough clamping force for welding to prevent welding deformation. There are 2 modes of automation and manual operation; manual pressing adopts the keeper formula hasp 7 to combine the stroke quick adjustment, through changing gasket 8, adapts to different screen cloth silk footpaths, provides stable clamp force. The structure is schematically shown in figure 1. The automatic mode adopts the pneumatic cylinder 9 drive, adopts the pressure control return circuit, provides stable pressure value to adapt to different screen cloth silk footpaths with the help of the self-compensating action of hydraulic pressure.
Structurally, the bolt type lock catch is replaced by a hydraulic cylinder, a pressure rod end connector is replaced, and a hydraulic loop is added. 2 ways have interchangeability throughout the system.
The movable clamp arranged at the rear part can move along the frame to clamp the suspended part of the screen, so that the welding deformation is reduced;
2. stepping type production process layout
The workpiece enters a working position along with the clamping device, and the walking wheels slide into the grooves 11. Moving the background plate to the position right below the workpiece, starting the robot, and enabling the vision system to start to identify welding spots at the intersection of the screens; after recognition is finished, the background plate is removed, and the operation is started again; the robot automatically plans a path and coordinates a welding machine to weld; and the clamping device steps by a grid distance, enters the next welding, and circulates until the whole screen is welded. And returning the clamping device to the starting point, opening the clamping pressure rod, turning over the screen and welding the back surface according to the sequence. The above structure is schematically shown in fig. 2.
The clamping device and the robot welding system have various configuration modes: a. arranging a single tool, and arranging a set of clamping devices by a robot; b. double-tool layout, one robot with two sets of clamping devices; c. the multiple tools are circularly arranged, and one set of robot and multiple sets of clamping devices are circularly arranged; a. b and c are respectively suitable for the screen welding with high, medium and low mesh density; so as to improve the continuous working time of the robot; the system configuration layout is shown in fig. 3, 4 and 5.
3. Automatic welding system of robot
Hardware: 1. a robot and a welder; 2. operation box
Software:
a) the robot teaching program adopts an addressing mode to simplify the program and improve the readability;
b) the robot vision background program is used for realizing communication with the camera software to receive multi-point data processed by the vision software; placing in a robot storage area; the robot takes the camera and discerns the welding point, and automatic guide robot follows according to the multipath planning welding. Automatic unmanned welding is realized, and the readability and the practicability of a guiding program are simplified by the robot program in an addressing mode.
4.2D vision system, as shown in fig. 6.
Hardware: CCD industrial kilomega camera 13; 2. an industrial computer 14; 3. light source 10
Software: identifying welding spots by ROI fast template matching; splicing by using a multi-ROI (region of interest) mode and then performing script operation to enable the identification number in the camera visual field to reach 300 multi-spot welding points;
the welding points are shielded by BLOB analysis, so that the welding efficiency is improved; repeated welding is reduced;
storing the single camera in a multi-point mode, and guiding welding; after the camera finishes single image taking, the camera is stored in upper computer software, and after multiple times of photographing, the robot takes the guide welding point for welding, so that the welding efficiency is improved;
5. upper computer system
The upper computer writes a UI interface for setting and selecting multiple models; flexible production can be carried out; the buttons are flexibly used by adopting parameterization setting;
providing a voice prompt alarm function; prompting fault information and operation prompting;
the upper computer and the robot adopt a TCP/IP mode; the robot and the 2D camera are communicated in a TCP/IP mode;
secondly, the improvement:
(1) the door bolt type quick clamp is combined with the quick adjustment of the pressing stroke, so that the adjustment of different strokes of a manual adjusting clamp or a pressing mechanism controlled by pressure is reduced, and the pressing function of screen mesh parts with different wire diameters is realized;
(2) the modular different configurations and layouts are adopted, so that the production equipment is suitable for the production with different scales and different specifications;
(3) automatically identifying the welding position by an algorithm by adopting a 2D camera;
(4) guiding the robot to automatically weld the multiple spot welding points;
(5) planning multiple paths, guiding the robot, automatically identifying welded points and shielding the welded points.
Thirdly, the working principle is as follows:
the modularized clamping device realizes clamping and positioning of various screen meshes through quick adjustment (manual) self-adaption (hydraulic pressure control). And step-by-step feeding, moving the clamping device to sequentially move all parts of the screen into a working area of the robot, and automatically completing screen welding by the coordination of the robot and a vision system.
Selecting different types of products from the upper computer, sending the products to the robot, holding the 2D camera by the robot, and moving different positions through the robot to obtain images of different positions of the station; the camera software acquires corresponding image analysis data through the model selected by the upper computer to give relative coordinates of different welding positions, and the relative coordinates are stored in the camera software; after the robot photographing is finished; sending a request to camera software to acquire coordinate points to be welded according to the welding sequence; carrying out area guide welding; and the area welding is completed, and the data welding is requested again until the welding is completed.
The upper computer has a voice broadcasting function and can set different texts through the table to be converted into voice; and receiving data sent by the robot, corresponding to different broadcast voices, and prompting operation steps and fault alarm information.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an intelligent welding system of many varieties screen cloth, its characterized in that, including the modularization clamping device who is used for realizing many varieties screen cloth, be used for carrying out welding operation's robot welding subsystem and being used for discerning the welding point and go on the 2D vision subsystem of location according to the location, modularization clamping device is including returning font structural framework (1), return font structural framework (1) and go up one end and be equipped with tray (2) that are used for as the screen cloth material strip, the other end is equipped with fixed positioning piece (3), it presss from both sides tight (4) and activity background board mechanism (5) to be equipped with a plurality of activities on font structural framework (1), it still is equipped with a plurality of adjustable positioning mechanism and depression bar and locking mechanism respectively to return font structural framework (1) the left and right sides.
2. The intelligent welding system for various screens as claimed in claim 1, wherein the 2D vision subsystem comprises a light source (10) for illuminating the object to be measured (12), an industrial computer (14) for processing image data, and a CCD industrial gigabit camera (13) for acquiring the image data of the object to be measured (12), wherein the CCD industrial gigabit camera (13) is connected with the industrial computer (14).
3. The intelligent welding system for multiple varieties of screens of claim 2, wherein the robotic welding subsystem comprises a welder robot and an operation box connected thereto, the operation box further connected to the industrial computer (14).
4. The intelligent welding system for various screens as claimed in claim 1, wherein the movable clamp (4) is arranged on the frame (1) in a position between the support block (2) and the fixed positioning block (3).
5. The intelligent welding system for various screens as claimed in claim 1, wherein the movable background plate mechanism (5) is vertically arranged on the frame (1) of the square-shaped structure and is positioned below the screen.
6. The intelligent welding system for various screen meshes as claimed in claim 1, wherein the compression bar and locking mechanism comprises a bolt type lock catch (7) for manually providing clamping force to prevent welding deformation during welding.
7. The intelligent welding system for multiple varieties of screens of claim 1, wherein the compression bar and locking mechanism comprises a hydraulic cylinder (9) for providing clamping force to prevent welding deformation during welding in an automatic manner.
8. The intelligent welding system of multiple varieties of screens of claim 1, wherein the adjustable positioning mechanism comprises a positioning plate (6) which is arranged on the frame (1) in a sliding groove manner.
9. The intelligent welding system for the various screens as claimed in claim 8, wherein the positioning plate (6) is provided with scale marks for assisting in positioning the width of the screen.
10. The intelligent welding system for various screen meshes according to claim 1, wherein the square-back structural frame (1) is made of welded or building block splicing type sectional materials.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120894930.1U CN215091527U (en) | 2021-04-28 | 2021-04-28 | Intelligent welding system of many varieties screen cloth |
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| CN202120894930.1U CN215091527U (en) | 2021-04-28 | 2021-04-28 | Intelligent welding system of many varieties screen cloth |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119794643A (en) * | 2025-03-12 | 2025-04-11 | 苏州专益智能科技有限公司 | Metal mesh chain automatic welding machine |
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2021
- 2021-04-28 CN CN202120894930.1U patent/CN215091527U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119794643A (en) * | 2025-03-12 | 2025-04-11 | 苏州专益智能科技有限公司 | Metal mesh chain automatic welding machine |
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