CN218426128U - Intelligent tracking welding system - Google Patents
Intelligent tracking welding system Download PDFInfo
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- CN218426128U CN218426128U CN202222245695.2U CN202222245695U CN218426128U CN 218426128 U CN218426128 U CN 218426128U CN 202222245695 U CN202222245695 U CN 202222245695U CN 218426128 U CN218426128 U CN 218426128U
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- laser tracking
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- industrial robot
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- 238000003466 welding Methods 0.000 title claims abstract description 126
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 25
- 210000000707 wrist Anatomy 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 3
- 238000003754 machining Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Abstract
The utility model discloses a welding system is trailed to intelligence belongs to welding equipment. The device comprises a transmission device, a laser tracking device and a welding device. The transmission device is suitable for transmitting the plates to be welded to the processing station; the laser tracking device keeps consistent or within a preset range relative to the distance between the welding seams so as to accurately acquire the position information of the welding seams; the welding device comprises an industrial robot arranged on one side of the conveying device and a welding gun arranged on the output end of the industrial robot and always kept at a constant angle with the welding seam. The utility model obtains the position information of the welding seam in the laser tracking system; then through the cooperation of the six-axis robot and the welding gun, the compensation of the spatial position of the welding seam can be realized, and meanwhile, the posture of the welding gun can be automatically adjusted, so that the welding gun is always perpendicular to the path of the welding seam or keeps a constant angle with the path of the welding seam, and a more perfect welding effect is achieved.
Description
Technical Field
The utility model belongs to welding equipment, especially, welding system is trailed to intelligence.
Background
A traditional laser tracking system generally adopts an intelligent guiding industrial robot or an automatic special welding machine to realize the compensation of spatial position. However, in some industries such as bridges, pressure vessels, ships and the like with higher welding quality requirements, aiming at some special thick plate automatic welding occasions such as corrugated welding seams and arc welding seams, the posture of a welding gun cannot be adjusted in the welding process of the traditional laser tracking system, the inclination angle between the welding gun and the welding seam is changed in time, the welding quality is greatly reduced, and the high-quality welding effect cannot be achieved.
SUMMERY OF THE UTILITY MODEL
In order to overcome the technical defect, the utility model provides an intelligence tracking welding system to solve the problem that the background art relates.
The utility model provides an intelligent tracking welding system, include:
the conveying device is suitable for conveying the plates to be welded to the machining station;
the laser tracking device comprises an upright post arranged on one side of the transmission device, a linear motion module which is arranged on the upright post and is parallel to the transmission surface of the transmission device, and a laser tracking system which is arranged on the output end of the linear motion module and is always consistent or kept within a preset range relative to the distance between welding seams;
welding set, including setting up industrial robot on one side of the transmission device, and set up industrial robot output, all the time and the welding gun on the welding seam on keeping invariable angle.
Preferably or optionally, the industrial robot comprises at least 6 degrees of freedom.
Preferably or optionally, the industrial robot comprises: the waist swing mechanism is rotatably arranged on the base, and the large arm mechanism is rotatably arranged on the waist swing mechanism; the welding gun welding device comprises a small arm mechanism, a wrist mechanism and a tail end executing mechanism, wherein the small arm mechanism is rotatably arranged at the other end of the large arm mechanism, the wrist mechanism is rotatably arranged at the other end of the small arm mechanism, and the tail end executing mechanism is rotatably arranged at the other end of the wrist mechanism and used for installing a welding gun.
Preferably or alternatively, the welding gun is a submerged arc welding machine or a gas shield welding machine.
Preferably or optionally, the transport device is a roller conveyor.
Preferably or optionally, the welding system further comprises a linear motion system adapted to drive the laser tracking device, the welding device, to move along the strip of welded sheet material.
Preferably or optionally, the linear motion system comprises: the linear guide rail is arranged on one side of the transmission device, and the moving trolley is slidably mounted on the linear guide rail;
the laser tracking device and the welding device are arranged on the upper surface of the moving trolley.
Preferably or optionally, the welding system further comprises an electrical control cabinet arranged on one side of the transmission device, and the electrical control cabinet is in signal connection with the laser tracking device and the welding device respectively.
The utility model relates to a welding system is trailed to intelligence compares in prior art, has following beneficial effect:
the utility model adds the linear motion module driven by the servo motor in the laser tracking system, so that the laser tracking system can accurately acquire the position information of the welding seam within the optimal measuring range from the welding seam all the time; then through the cooperation of the six-axis robot and the welding gun, the compensation of the spatial position of the welding seam can be realized, and meanwhile, the posture of the welding gun can be automatically adjusted, so that the welding gun is always perpendicular to the path of the welding seam or keeps a constant angle with the path of the welding seam, and a more perfect welding effect is achieved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a plan view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a schematic structural diagram of the middle laser tracking device of the present invention.
Fig. 5 is a schematic structural diagram of the welding device of the present invention.
The reference signs are: the laser tracking device 500, the upright column 510, the telescopic module 520, the laser tracking system 530, the angle adjusting device 540, the lifting module 550, the mounting seat 521, the servo motor 522, the linear motion module 523, the sliding seat 524, the drag chain 525,
A linear motion system 700, a linear guide rail 710, a movable trolley 720,
An electric control cabinet 800,
A wave web plate A, a top plate B and a welding seam C.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
Referring to fig. 1 through 5, an intelligent tracking welding system includes: a transmission device, a laser tracking device 500 and a welding device 600.
The transmission device is suitable for transmitting the plates to be welded to the processing station; in this embodiment, the conveying device is a roller type conveying mechanism, which is an existing arrangement and the structure of which is not further described; it will be appreciated by those skilled in the art that the transfer device may be a work table to which the sheet material is lifted in other ways. In addition, a plurality of positioning or fixing devices can be arranged on the placing platform and used for fixing the top plate B so as to improve the placing stability of the top plate B. The plates to be welded are top webs, and referring to the attached drawing 1, the top webs are composed of antinode plates A and top plates B, and the antinode plates A and the top plates B are pre-installed together through manual spot welding.
Referring to fig. 4, the laser tracking device 500 includes a post 510, a linear motion module 523, and a laser tracking system 530. Wherein the upright column 510 is vertically installed on a working plane, a conveying device is arranged on the working plane, the conveying device is suitable for conveying the plates to be welded and horizontally moves along the working plane, the upright column 510 is arranged at one side of the conveying device, and the laser tracking device in the embodiment is arranged at one side of the conveying device.
The linear motion module 523 includes: the servo motor 522 is fixedly installed on the installation base 521, the screw rod is installed on the installation base 521 and is in transmission connection with the servo motor 522, guide rails are arranged on two sides of the screw rod, and the sliding base 524 is installed on the screw rod and the guide rails in a sliding manner. Of course, it is obvious to those skilled in the art that the linear motion module 523 can be other programmable linear modules, which will not be described herein.
In addition, a drag chain 525 is arranged on the mounting seat 521 and is suitable for accommodating a control circuit and a power supply circuit, and the control circuit and the power supply circuit are connected with the servo motor 522 and are suitable for controlling the opening, closing and rotating speed of the servo motor 522.
The laser tracking system 530 is installed on the output end of the linear motion module 523 and forms a preset included angle with the working plane, and the preset included angle ranges from 15 degrees to 75 degrees; preferably 45. In addition, the distance between the laser tracking system 530 and the weld C is always kept consistent or within a predetermined range under the driving of the motion linear module, that is, the weld C is always within the optimal measurement range of the laser tracking system 530.
Wherein the laser tracking system 530 is a commercially available product; in this embodiment, the laser tracking system 530 includes: the laser detector comprises a mounting frame fixedly mounted on the sliding seat 524, a laser generator arranged on the mounting frame and having an emergent port always opposite to the welding line C, and a laser detector mounted on the mounting frame and suitable for acquiring laser signals reflected from a target.
In a further embodiment, the upright column 510 is further provided with a lifting module 550, and the output end of the lifting module 550 is provided with a telescopic module 520. An angle adjusting device 540 is also arranged between the sliding seat 524 and the laser tracking system 530. When products of different types and specifications are produced, a user can adjust the height of the laser tracking system 530 relative to the working plane and form a preset included angle with the working plane through the lifting module 550 and the angle adjusting device 540, related detection parameters are optimized, and the application range of the laser welding seam C tracking device is expanded.
The welding apparatus 600 includes an industrial robot 610 provided at one side of the transfer apparatus, and a welding gun 620 provided at an output end of the industrial robot 610 to always maintain a constant angle with the weld C. Wherein the industrial robot 610 comprises at least 6 degrees of freedom and the welding gun 620 is a submerged arc welding machine or a gas shield welding machine. Through the cooperation of six robots and welding gun 620, whole welding set 600 not only can realize the compensation of welding seam C spatial position, simultaneously can automatically regulated welding gun 620's gesture for welding gun 620 all the time perpendicular to welding seam C route or keep invariable angle with welding seam C route, thereby reach more perfect welding effect.
Referring to fig. 5, this embodiment shows an exemplary six-axis robot structure, and the industrial robot 610 includes: a base 611, a waist swing mechanism 612 rotatably mounted on the base 611, and a large arm mechanism 613 rotatably mounted on the waist swing mechanism 612; a small arm mechanism 614 rotatably mounted on the other end of the large arm mechanism 613, a wrist mechanism 615 rotatably mounted on the other end of the small arm mechanism 614, and an end effector 616 rotatably mounted on the other end of the wrist mechanism 615 for mounting a welding gun 620.
In a further embodiment, the welding system further comprises a linear motion system 700 adapted to drive the laser tracking device 500, the welding device 600 along the strip welded blank. The linear motion system 700 includes: a linear guide rail 710 arranged at one side of the transmission device, and a movable trolley 720 slidably mounted on the linear guide rail 710; the laser tracking device 500 and the welding device 600 are mounted on the upper surface of the moving trolley 720. Compared with a transmission device, the linear motion system 700 has higher motion precision, and in the welding process, the linear telecontrol system is adopted to control the movement of the laser tracking device 500 and the welding device 600.
It is understood that the welding system further includes an electrical control cabinet 800 disposed at one side of the transmission device, on one hand, the electrical control cabinet 800 is electrically connected to the laser tracking device 500 and the welding device 600 respectively to provide power for the movement of the laser tracking device 500 and the welding device 600, and on the other hand, the electrical control cabinet 800 is in signal connection to the laser tracking device 500 and the welding device 600 respectively to control the precise movement of the laser tracking device 500 and the welding device 600.
In order to facilitate understanding of the technical scheme of the intelligent tracking welding system, the working principle of the intelligent tracking welding system is briefly explained: in the process of welding the top web plate, a welding seam C between the wave web plate a and the top plate B is a wavy line, relevant parameters of the wavy line are input into the servo motor 522 and the linear motion system 700, and under the cooperation of the telescopic module 520 and the linear motion system 700, the distance between the laser tracking system 530 and the welding seam C is always kept consistent or kept within a preset range and is located within the optimal measurement range of the laser tracking system 530, so that the position information of the welding seam C can be accurately obtained; then, the six-axis robot is matched with the welding gun 620, the spatial position and the posture of the welding gun 620 are adjusted, the compensation of the spatial position of the welding seam C is realized, and the posture of the welding gun 620 is adjusted, so that the welding gun 620 is always perpendicular to the path of the welding seam C or keeps a constant angle with the path of the welding seam C, and the perfect welding effect is achieved.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.
Claims (8)
1. An intelligent tracking welding system, comprising:
the conveying device is suitable for conveying the plates to be welded to the machining station;
the laser tracking device comprises an upright post arranged on one side of the transmission device, a linear motion module which is arranged on the upright post and is parallel to the transmission surface of the transmission device, and a laser tracking system which is arranged on the output end of the linear motion module and is always consistent or kept within a preset range relative to the distance between welding seams;
and the welding device comprises an industrial robot arranged on one side of the transmission device and a welding gun arranged on the output end of the industrial robot and always kept at a constant angle with the welding seam.
2. The intelligent tracking welding system of claim 1, wherein the industrial robot includes at least 6 degrees of freedom.
3. The intelligent tracking welding system of claim 2, wherein the industrial robot comprises: the waist swing mechanism is rotatably arranged on the base, and the large arm mechanism is rotatably arranged on the waist swing mechanism; the welding gun welding device comprises a small arm mechanism, a wrist mechanism and a tail end executing mechanism, wherein the small arm mechanism is rotatably arranged at the other end of the large arm mechanism, the wrist mechanism is rotatably arranged at the other end of the small arm mechanism, and the tail end executing mechanism is rotatably arranged at the other end of the wrist mechanism and used for installing a welding gun.
4. The intelligent tracking welding system of claim 1, wherein the welding torch is a submerged arc welding or gas shielded welding torch.
5. The intelligent tracking welding system of claim 1, wherein the transmission device is a roller-type delivery mechanism.
6. The intelligent tracking welding system of claim 1, further comprising a linear motion system adapted to drive the laser tracking device, the welding device, along the strip of welded sheet material.
7. The intelligent tracking welding system of claim 6, wherein the linear motion system comprises: the linear guide rail is arranged on one side of the transmission device, and the moving trolley is slidably mounted on the linear guide rail;
the laser tracking device and the welding device are arranged on the upper surface of the movable trolley.
8. The intelligent tracking welding system of any one of claims 1 to 7, further comprising an electrical control cabinet disposed on a side of the transmission device, the electrical control cabinet being in signal communication with the laser tracking device and the welding device, respectively.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2022222303389 | 2022-08-24 | ||
| CN202222230338 | 2022-08-24 |
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| Publication Number | Publication Date |
|---|---|
| CN218426128U true CN218426128U (en) | 2023-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222245695.2U Active CN218426128U (en) | 2022-08-24 | 2022-08-25 | Intelligent tracking welding system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12208530B2 (en) | 2022-06-06 | 2025-01-28 | Lincoln Global, Inc. | Weld angle correction device |
| US12330298B2 (en) | 2022-06-06 | 2025-06-17 | Lincoln Global, Inc. | Weld angle correction device |
-
2022
- 2022-08-25 CN CN202222245695.2U patent/CN218426128U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12208530B2 (en) | 2022-06-06 | 2025-01-28 | Lincoln Global, Inc. | Weld angle correction device |
| US12330298B2 (en) | 2022-06-06 | 2025-06-17 | Lincoln Global, Inc. | Weld angle correction device |
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