TWI580508B - Space tracking machine - Google Patents

Description

Space path tracking welding machine

The present invention relates to a welding device, and more particularly to a space path tracking welding machine that achieves an automatic tracking welding function by non-contact measurement.

Most of the existing welding operations are carried out by manual means to find, calibrate and weld the welding position, and through the professional welding personnel, the visual inspection method is used to judge and operate the welding processing path. However, through manual welding processing, Not only does it require professional welding personnel to perform discrimination and operation, but it also requires a lot of work time. Therefore, the production efficiency is relatively reduced, which in turn affects the shipping time and reduces the welding precision. Furthermore, the welding process is performed manually. Not only will it increase labor costs, but it will increase the level of danger at work, and there is still room for improvement.

In view of the fact that the existing welding process needs to be operated by a professional and has a considerable degree of danger during operation, the inventors have finally conducted a trial and research to finally develop a space path tracking welding machine capable of improving the existing missing. Provides non-contact measurement and automatic tracking function, which can automate the welding process and improve the quality of welding and the safety of operation.

The invention provides a space path tracking welding machine, comprising: a space path tracking system, comprising: an XYZ moving device, a plane measuring device, a height measuring device and a welding device, wherein the XYZ mobile device comprises An X-axis moving component, a Y-axis moving component and a Z-axis moving component disposed perpendicularly to each other, the X-axis moving component is horizontally disposed, and the Y-axis moving component is horizontally disposed perpendicular to the X-axis moving component, the Z Axis moving components are set upright The X-axis moving component is disposed on the Z-axis moving component, and is provided with an image capturing device corresponding to the Y-axis moving component; the height measuring device is disposed on the Z-axis Moving the component and providing a laser range finder facing the Y-axis moving component; the welding device is disposed at a lower end of the height measuring device and adjacent to the laser range finder; and a control system is electrically connected The space path tracking system is configured to drive the X-axis moving component and the Y-axis moving component to move to correspond to the position of the object to be tested, and activate the plane measuring device to cause the image capturing device to capture the image of the object to be tested, and capture the image. Image processing and calculation of the planar path, and then drive the X-axis moving component and the Y-axis moving component to move, and start the laser range finder of the height measuring device, to plan the spatial path to be welded, and then drive the X-axis The moving component, the Y-axis moving component and the Z-axis moving component simultaneously start the welding device to perform welding along the planned spatial path.

Preferably, the X-axis moving component is provided with a base at a horizontal position, and an X-axis slide rail parallel to and spaced apart from each other is formed on two sides of the base, and a screw is disposed between the X-axis slide rails. The two ends of the screw are rotatably disposed at two ends of the base, and one end thereof is movably assembled on a servo motor, and an X-axis slide table is disposed on the two X-axis slide rails. The X-axis slide table is coupled to the screw; the Y-axis moving assembly is horizontally disposed with a base horizontally corresponding to the middle of the X-axis moving assembly, and two parallel and spaced sides are respectively formed on two sides of the base. a Y-axis slide rail is disposed between the two Y-axis slide rails, and two ends of the screw are rotatably disposed at two ends of the base, and one end thereof is operably assembled on a servo motor And a Y-axis sliding table is disposed on the two Y-axis slide rails for fixedly placing the workpiece to be welded, the Y-axis sliding table is coupled to the screw; and the Z-axis moving component is vertically disposed on the X-axis moving a base on the assembly and a base on the X-axis slide table, and the base faces the Y-axis On the side of the movable assembly, are formed parallel to each other and spaced a Z-axis rail, is provided with a screw in the Z-axis between the two rails, the ends of the screw is rotatably disposed through It is disposed at two ends of the base, and one end of the base is movably assembled on a servo motor, and then a Z-axis slide table is disposed on the two Z-axis slide rails, and the Z-axis slide table is coupled to the screw .

Preferably, the planar measuring device comprises a binding arm, the image capturing device and a light source, wherein one end of the coupling arm is fixedly disposed on the Z-axis sliding table, and the component is moved toward the Y-axis. The image capturing device is disposed at the other end of the binding arm, and corresponding to the Y-axis moving component facing downward, the light source is fixedly disposed at the other end of the binding arm and adjacent to the image capturing device .

Preferably, the light source is a ring type light source, and the ring sleeve is disposed around the image picker.

Preferably, the height measuring device comprises an assembly arm and the laser range finder, wherein one end of the assembly arm is fixedly assembled on the Z-axis sliding table, and the component is moved downward toward the Y-axis. The direction is extended, and the laser range finder is disposed on a lower end side of the assembly arm and corresponding to the Y-axis moving component facing downward.

Preferably, the welding device described above is a welding torch.

Preferably, the control system includes a computer host and a screen display. The computer host is electrically connected to the space path tracking system, and the screen display is electrically connected to the computer host.

With the above structure, the space path tracking welding machine of the present invention can effectively utilize the planar image capturing technology and the laser non-contact height measuring technology, and through the program operation and path planning of the control system, thereby obtaining the to be welded. The space path and the use of the control system to drive the XYZ moving device and the welding device respectively can complete the automatic tracking welding function of the welding device, which can effectively reduce the danger in the operation and improve the efficiency and quality of the welding process.

10‧‧‧XYZ mobile device

11‧‧‧X-axis moving components

110‧‧‧Base

111‧‧‧X-axis slide

112‧‧‧ screw

113‧‧‧Servo motor

114‧‧‧X-axis slide table

12‧‧‧Y-axis moving components

120‧‧‧Base

121‧‧‧Y-axis slide

122‧‧‧ screw

123‧‧‧Servo motor

124‧‧‧Y-axis slide table

13‧‧‧Z-axis moving components

130‧‧‧Base

131‧‧‧Z-axis slide

132‧‧‧ screw

133‧‧‧Servo motor

134‧‧‧Z-axis slide table

20‧‧‧ Plane measuring device

21‧‧‧Binding arm

22‧‧‧Image capture device

23‧‧‧Light source

30‧‧‧ Height measuring device

31‧‧‧Assemble arm

32‧‧‧Laser rangefinder

40‧‧‧ welding equipment

50‧‧‧Control system

51‧‧‧Computer host

52‧‧‧screen display

60‧‧‧Test object

A1‧‧‧ first capture area

A2‧‧‧Second Capture Area

A3‧‧‧ third capture area

A4‧‧‧ fourth capture area

1 is a schematic view showing the appearance of a space path tracking welding machine of the present invention.

2 is an external perspective view of a space path tracking system with a space path tracking welding machine of the present invention.

FIG. 3 is a schematic diagram of the operation of the space path tracking welding machine for plane measurement according to the present invention.

4 is a schematic view showing the operation of the space path tracking welding machine for plane measurement according to the present invention.

FIG. 5 is a schematic view showing the operation of the space path tracking welding machine for plane measurement according to the present invention.

Fig. 6 is a schematic view showing the operation of the space path tracking welding machine for plane measurement according to the present invention.

Fig. 7 is a schematic view showing the operation of the space path tracking welding machine for welding processing according to the present invention.

Referring to FIG. 1, a space path tracking welding machine of the present invention includes a space path tracking system and a control system 50.

Referring to FIG. 1 and FIG. 2, the spatial path tracking system includes an XYZ moving device 10, a plane measuring device 20, a height measuring device 30, and a welding device 40, wherein the XYZ moving device 10 includes an X-axis. a moving component 11, a Y-axis moving component 12 and a Z-axis moving component 13, the X-axis moving component 11 is a horizontally arranged moving component, and a long-shaped base 110 is horizontally disposed on the working surface on the base. An X-axis slide rail 111 parallel to and spaced apart from each other is formed on each side of the 110, and an elongated screw 112 is disposed between the two X-axis slide rails 111. Both ends of the screw 112 are rotatably disposed on the base. The X-axis slide table 114 is connected to the two X-axis slide rails 111, and the X-axis slide table 114 is coupled to the screw 112. .

The Y-axis moving component 12 is another horizontally disposed moving component, and horizontally disposed on the working surface with a longitudinally corresponding base of the X-axis moving component 11 on the two sides of the base 120 A Y-axis slide rail 121 is formed in parallel with each other, and a long-shaped screw 122 is disposed between the two Y-axis slide rails 121. Both ends of the screw 122 are rotatably disposed at both ends of the base 120. And one end of the two-axis slide rail 121 is disposed on a servo motor 123, and a Y-axis slide table 124 is disposed on the two Y-axis slide rails 121. The Y-axis slide table 124 is coupled to the screw 122, and the Y A fixed and placed workpiece to be welded can be provided on the shaft slide table 124.

The Z-axis moving assembly 13 is an upright moving assembly that is provided with an elongated base 130 on the X-axis slide table 114 of the X-axis moving assembly 11 and moves the assembly 12 toward the Y-axis at the base 130. On the side, a Z-axis slide rail 131 is formed in parallel with each other, and a long-shaped screw 132 is disposed between the two Z-axis slide rails 131. Both ends of the screw 132 are rotatably disposed on the base 130. The two ends of the Z-axis slide table 134 are connected to the two Z-axis slide rails 131, and the Z-axis slide table 134 is coupled to the screw 132.

The plane measuring device 20 is disposed on the Z-axis moving assembly 13 and includes a binding arm 21, an image capturing device 22 and a light source 23, wherein one end of the coupling arm 21 is fixedly disposed on the Z-axis sliding table. 134, and extending toward the Y-axis moving component 12, the image capturing device 22 is disposed at the other end of the binding arm 21, and corresponding to the Y-axis moving component 12 facing downward, the light source 23 is fixedly disposed on the combination The other end of the arm 21 is adjacent to the image capturing device 22. The light of the light source 23 is irradiated toward the lower Y-axis moving component 12. Preferably, the light source 23 is a ring-shaped light source 23 and is disposed on the image. Around the extractor 22.

The height measuring device 30 is disposed on the Z-axis moving assembly 13 and includes an assembly arm 31 and a laser range finder 32. One end of the assembly arm 31 is fixedly disposed on the Z-axis sliding table 134. And the position of the plane measuring device 20 is shifted in an L shape, and then extends downward in the direction of the Y-axis moving component 12, and the laser range finder 32 is disposed on the lower end side of the assembly arm 31, and corresponds to the downward direction. The Y axis moves the assembly 12.

The welding device 40 is disposed on the other side of the lower end of the assembly arm 31 of the height measuring device 30, and adjacent to the laser range finder 32. Preferably, the welding device 40 is a welding torch.

The control system 50 is electrically coupled to the space path tracking system (shown in the schematic diagram of FIG. 1) and includes a computer host 51 and a screen display 52. The computer host 51 can perform receiving signals, image processing, program operations, and output signals. The program is used to process the signal and control the operation space path tracking system; the screen display 52 is electrically connected to the computer host 51 for displaying images and data. The control system 50 of the present embodiment is a technical means for achieving electrical connection by a transmission line, and can also be a technical means for achieving electrical connection for wireless transmission.

When the space path tracking welding machine of the present invention is used in operation, referring to FIG. 1 and FIG. 2, a test object 60 is first fixedly placed on the Y-axis slide table 124, and the Z-axis moving assembly 13 is fixed at a certain height. Position, then the servo motor 113 of the X-axis moving assembly 11 is driven by the control system 50 to rotate the screw 112, the X-axis slide table 114 is moved relative to the X-axis slide 111 to correspond to the Y-axis slide table 124, and the plane measuring device 20 is caused. Corresponding to the first capturing area A1 of the object to be tested 60 (as shown by the two-point chain line in FIG. 3), at this time, the light source 23 of the plane measuring device 20 and the image capturing device 22 are activated to capture the object to be tested. After the first capture of the image of the area A1, the signal is transmitted back to the computer host 51 of the control system 50.

Next, the control system 50 drives the servo motor 123 of the Y-axis moving assembly 12 to rotate the screw 122 such that the Y-axis slide table 124 is opposite to the Y-axis slide 121, so that the plane measuring device 20 corresponds to the second capture region of the object 60 to be tested. A2 (as shown by the two-point chain line in FIG. 4), at this time, the light source 23 of the plane measuring device 20 and the image capturing device 22 are activated to capture the image of the second capturing area A2 on the object to be tested 60. The signal is transmitted back to the host computer 51 of the control system 50.

Next, the control system 50 drives the servo motor 113 of the X-axis moving assembly 11 to rotate the screw 112 such that the X-axis slide table 114 opposes the X-axis slide rail 111, so that the plane measuring device 20 corresponds to the third capture region of the object to be tested 60. A3 (as shown by the two-point chain line in FIG. 5), at this time, the light source 23 of the plane measuring device 20 and the image capturing device 22 are activated to capture the image of the third capturing area A3 on the object to be tested 60. The signal is transmitted back to the host computer 51 of the control system 50.

Finally, the control system 50 drives the servo motor 123 of the Y-axis moving assembly 12 to rotate the screw 122 such that the Y-axis slide table 124 is opposite to the Y-axis slide 121, so that the plane measuring device 20 corresponds to the fourth capture region of the object 60 to be tested. A4 (as shown by the two-point chain line in FIG. 6), at this time, the light source 23 of the plane measuring device 20 and the image capturing device 22 are activated to capture the image of the fourth capturing area A4 on the object to be tested 60. The signal is transmitted back to the host computer 51 of the control system 50.

After the plane measurement operation is completed, the computer host 51 of the control system 50 will use the image processing technology to stitch the four images taken from A1 to A4, and calculate the plane path to be welded. At this time, through the computer host 51 The planar path is converted into a control signal while being transmitted to the X-axis moving component 11 and the Y-axis moving component 12, and the Z-axis moving component 13 is received according to the X-axis moving component 11 and the Y-axis moving component 12 while maintaining a fixed height. The control signal is automatically moved along the planar path to be welded. At this time, the laser range finder 32 on the height measuring device 30 is activated to synchronously measure the height position of the plurality of points on the welding plane path, and the amount The measured height data of each point is transmitted back to the computer host 51 of the control system 50. After the height measurement is completed, the computer host 51 performs the overall calculation and plans the three-dimensional space path to be welded.

Next, the control system 50 converts the spatial path into a signal, and outputs the signal to the XYZ moving device 10, as shown in FIG. 7, to drive the X-axis moving component 11, the Y-axis moving component 12, and the Z-axis moving component 13 to operate simultaneously. Thereby, the welding device 40 is driven to move along the planned three-dimensional space path, and at the same time, the automatic welding processing operation is performed.

Through the above structure and operation steps, the planar image capturing technology and the laser non-contact height measuring technology can be effectively utilized, and the program operation and path planning of the control system 50 are obtained, thereby obtaining a three-dimensional space path to be welded. And the control system 50 drives the XYZ moving device 10 and the welding device 40 respectively, that is, the automatic tracking welding function of the welding device 40 can be completed, which can effectively reduce the work hazard and improve the efficiency and quality of the welding process.

10‧‧‧XYZ mobile device

20‧‧‧ Plane measuring device

30‧‧‧ Height measuring device

40‧‧‧ welding device

50‧‧‧Control system

51‧‧‧Computer host

52‧‧‧screen display

60‧‧‧Test object

Claims (6)

A space path tracking welding machine comprises: a space path tracking system comprising an XYZ moving device, a plane measuring device, a height measuring device and a welding device, wherein the XYZ moving device comprises mutually perpendicular An X-axis moving component, a Y-axis moving component and a Z-axis moving component are disposed, the X-axis moving component is horizontally disposed, the Y-axis moving component is horizontally disposed perpendicular to the X-axis moving component, and the Z-axis moves The component is erected on the X-axis moving component; the planar measuring device is disposed on the Z-axis moving component and includes a binding arm, the image capturing device and a light source, and one end of the binding arm is fixedly assembled The Z-axis slide table extends toward the Y-axis moving component, and the image picker is disposed at the other end of the binding arm and corresponding to the Y-axis moving component facing downward, the light source is fixedly disposed on the combination The other end of the arm is adjacent to the image capturing device; the height measuring device is disposed on the Z-axis moving component, and is provided with a laser range finder that moves the component toward the Y-axis; the welding device assembly Yu Gao a lower end of the measuring device adjacent to the laser range finder; and a control system electrically coupled to the space path tracking system for driving the X-axis moving component and the Y-axis moving component to move to correspond to the position of the object to be tested, And the plane measuring device is started to enable the image capturing device to take an image of the object to be tested, and the image is captured for image processing and a planar path is calculated, and then the X-axis moving component and the Y-axis moving component are driven to move, and the height measuring device is activated. The laser range finder arranges the spatial path to be welded with the integrated operation plan, and then drives the X-axis moving component, the Y-axis moving component and the Z-axis moving component, and simultaneously starts the welding device to perform welding processing along the spatial path of the plan. . The space path tracking welding machine according to claim 1, wherein the X-axis moving assembly is provided with a base at a horizontal position, and an X-axis slide rail parallel to and spaced apart from each other is formed on both sides of the base. A screw is disposed between the X-axis slide rails, and two ends of the screw are rotatably disposed at two ends of the base, and one end thereof is movably assembled on a servo motor, and then the two Xs are An X-axis slide table is disposed across the shaft slide rail, and the X-axis slide table is coupled to the screw; The above-mentioned Y-axis moving component is horizontally disposed with a base in a manner corresponding to the middle of the X-axis moving component, and a Y-axis slide rail parallel to and spaced apart from each other is formed on both sides of the base, and the Y-axis slide rails are respectively formed on the two Y-axis slides. A screw is disposed between the rails, and the two ends of the screw are rotatably disposed at two ends of the base, and one end thereof is movably assembled on a servo motor, and then spanned on the two Y-axis slide rails a Y-axis slide table for holding the workpiece to be welded, the Y-axis slide table being coupled to the screw; and the Z-axis moving assembly being erected on the X-axis moving assembly and on the X-axis slide table a pedestal is disposed on a side of the pedestal facing the Y-axis moving component, and a Z-axis slide rail is formed parallel to and spaced apart from each other, and a screw is disposed between the two Z-axis slide rails. The two ends are rotatably disposed at two ends of the base, and one end thereof is movably assembled on a servo motor, and a Z-axis slide table is disposed on the two Z-axis slide rails, the Z-axis The sliding table is linked to the screw. The space path tracking welding machine according to claim 2, wherein the light source is a ring type light source, and the ring sleeve is disposed around the image picker. The space path tracking welding machine according to claim 3, wherein the height measuring device comprises an assembly arm and the laser range finder, wherein one end of the assembly arm is fixedly disposed on the Z-axis sliding table. And extending downward toward the Y-axis moving component, the laser range finder is disposed on a lower end side of the assembly arm and corresponding to the Y-axis moving component facing downward. A space path tracking welding machine according to claim 4, wherein the welding device is a welding torch. The space path tracking welding machine of claim 5, wherein the control system comprises a computer host and a screen display, the computer host is electrically connected to the space path tracking system, and the screen display is electrically connected to the Computer host.