CN113369762A - Full position welding tractor based on binocular vision - Google Patents
Full position welding tractor based on binocular vision Download PDFInfo
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- CN113369762A CN113369762A CN202110797782.6A CN202110797782A CN113369762A CN 113369762 A CN113369762 A CN 113369762A CN 202110797782 A CN202110797782 A CN 202110797782A CN 113369762 A CN113369762 A CN 113369762A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
Abstract
The invention relates to the technical field of automatic welding of pipelines, in particular to an all-position welding trolley based on binocular vision, which comprises a machine head box body assembly, two lifting assemblies, two swinging assemblies, two welding gun clamping assemblies and a camera assembly, wherein the machine head box body assembly is connected with the welding trolley through a dovetail block arranged at the bottom, the lifting assemblies are arranged in the machine head box body assembly through two ends of a supporting spline shaft arranged, the swinging assemblies are arranged on the lifting assemblies through swinging racks arranged in the lifting assemblies, the welding gun clamping assemblies are fixed at one ends of the swinging spline shafts arranged in the swinging assemblies through telescopic fixing rings arranged, and the camera assembly is fixed above the welding gun clamping assemblies through bolts. The invention overcomes the defects of low welding efficiency, low welding precision and the like in the prior art and meets the requirements of various performance indexes such as small volume, light weight, low processing cost, strong numerical control capability, high motion precision, high welding efficiency, convenient operation and the like.
Description
Technical Field
The invention relates to the technical field of automatic pipeline welding, in particular to a full-position welding trolley based on binocular vision.
Background
At present, pipeline construction is gradually developed from manual welding to automatic welding, the span of a pipeline construction area is large, the construction environment along the pipeline is severe, pipeline transportation is gradually developed towards the direction of high pressure and large caliber, and higher requirements are provided for welding of a pipeline circumferential weld. The problems of weld forming defects, low welding efficiency and the like become key factors which restrict the whole engineering quality and construction period, so that the reduction of the difficulty and labor intensity of field welding is urgent.
Most of the existing industrial welding equipment has welding track deviation, welding quality is influenced, the reason is that welding errors caused by feedback adjustment lack in a welding machine when production and assembly errors occur in a weldment or a real-time welding environment is changed, aiming at the problems, the binocular vision-based automatic welding machine for the full-position pipeline is researched and developed, the automatic welding machine has automatic track tracking and real-time adjusting capacity during welding, and the efficiency and the precision of automatic welding are improved.
Disclosure of Invention
The invention aims to provide a binocular vision-based all-position welding tractor to solve the problems in the background technology.
In order to achieve the purpose, the invention provides an all-position welding trolley based on binocular vision, which comprises a machine head box body assembly, two lifting assemblies, two swinging assemblies, two welding gun clamping assemblies and a camera assembly, wherein the machine head box body assembly is connected with the welding trolley through a dovetail block arranged at the bottom, the lifting assemblies are arranged in the machine head box body assembly through two ends of a supporting spline shaft arranged, the swinging assemblies are arranged on the lifting assemblies through a swinging rack arranged in the lifting assemblies, the welding gun clamping assemblies are fixed at one ends of the swinging spline shafts arranged in the swinging assemblies through telescopic fixing rings arranged in the swinging assemblies, and the camera assembly is fixed above the welding gun clamping assemblies through bolts.
As a further improvement of the technical scheme, the aircraft nose box body assembly comprises a front plate, a rear plate, a top plate, a bottom plate, a left side plate, a right side plate, a dovetail block and an aerial insertion fixing shell which are connected and combined through bolts in sequence.
As a further improvement of the technical scheme, the lifting assembly comprises a supporting spline shaft, a small linear bearing, a motor fixing plate, a through shaft type stepping motor, a lifting trapezoidal screw and a swinging frame, wherein the small linear bearing is installed in four linear bearing holes formed in the swinging frame through bolts, the supporting spline shaft is installed in an inner hole of the small linear bearing, the motor fixing plate is fixed at the middle part of the swinging frame, the through shaft type stepping motor is installed on the motor fixing plate, and the lifting trapezoidal screw penetrates through the through shaft type stepping motor.
As a further improvement of this technical scheme, the swing subassembly includes swing integral key shaft, big linear bearing, the trapezoidal lead screw of swing and swing step motor, the swing integral key shaft through the inner wall be equipped with trapezoidal thread with the trapezoidal screw connection of swing, the one end of the trapezoidal lead screw of swing with swing step motor shaft connection, the swing integral key shaft all is located with the trapezoidal lead screw of swing in the through-hole that the swing frame was seted up, swing step motor is located in swing frame through-hole one end, big linear bearing installs the other end of the through-hole of swing frame, the swing integral key shaft with big linear bearing connects the cooperation.
As a further improvement of this technical scheme, welder centre gripping subassembly includes in proper order by support connecting rod, flexible retainer plate, pressure pad, welder swing joint spare, hoop tight seat, angle aluminium spare, fixed block, chucking cover, jump ring, handle and regulation indicator block, support connecting rod through the cylinder casing of a degree tip setting with flexible retainer plate is the cooperation of cup jointing, cylinder casing one end is equipped with the swivelling chute, the pressure pad is installed through the bolt cylinder casing's outer wall one end, support connecting rod through a plurality of regulation holes of seting up with welder swing joint spare is fixed through the bolt, hoop tight seat passes through angle aluminium spare with the bolt pretightning force of fixed block is installed welder swing joint spare one end, the chucking cover is installed through clearance fit hoop tight seat inner wall.
As a further improvement of the technical scheme, an electric control box assembly is arranged on the surface of one end of the handpiece box assembly and comprises a control box body, an insulation board, four carrying handles and two long handles, the insulation board is provided with a second electric control box through wire slot hole, a cavity is arranged in the control box body, the two carrying handles are respectively connected to two ends of the long handles, and the carrying handles are connected with the outer wall of the control box body through welding.
As a further improvement of this technical scheme, the one end of electrical control box subassembly is equipped with the overhead line subassembly, the overhead line subassembly includes support frame, end face bearing frame, line concentration shell, line concentration cap, cover, customization bolt, customization nut, first end face bearing and second end face bearing, the bolt fastening is passed through to support frame one end the one end of control box, first end face bearing is installed the bottom of end face bearing frame outer wall, the second end face bearing is installed end face bearing inner wall bottom and warp the customization bolt with the pretightning force of customization nut is fixed, the inner wall cover of cover is in on the outer wall of customization bolt one end, the one end of customization bolt is equipped with four screw holes.
As a further improvement of the technical scheme, camera assemblies are arranged at the end parts of the welding gun clamping assemblies, and each camera assembly comprises a transition plate and an industrial camera arranged on the surface of the transition plate. When the industrial camera fixedly connected moves through the welding gun clamping assembly, the industrial camera moves along with the movement of the welding gun clamping assembly, so that good monitoring and observation can be achieved under the action of the industrial camera, a welded pipeline is accurate, and errors generated are reduced as far as possible.
Compared with the prior art, the invention has the beneficial effects that:
in the binocular vision based all-position welding trolley, the lifting assembly is connected with the swing assembly and fixed inside the head box body assembly, the swing assembly moves up and down when the lifting assembly moves singly, namely, the movement of the swing assembly is connected and fixed with the swing spline shaft through the telescopic fixing ring, so that the swing assembly drives the welding gun clamping assembly and the camera assembly to synchronously move up and down, namely, move longitudinally, the welding gun is fixed inside the welding gun clamping assembly, the camera assembly at one end part is connected with the camera assembly to display the welding process of the welding gun when the welding gun performs automatic welding, and the effect of visual observation is achieved when the automatic welding is performed, so that the current welding construction pipeline is more accurate; wherein, the monomer can drive welder centre gripping subassembly simultaneously and carry out horizontal motion displacement about going on when the rectilinear motion of front and back is carried out through the swing subassembly to make welder reach the automatic welding effect of front and back position, and camera subassembly synchronous motion thereupon, so that reach visual observation in step.
Drawings
FIG. 1 is an isometric view of the overall construction of the present invention;
FIG. 2 is a front view of the overall structure of the present invention;
FIG. 3 is a top view of the overall structure of the present invention;
FIG. 4 is a left side view of the overall structure of the present invention;
FIG. 5 is an exploded view of the head and housing assembly of the present invention;
FIG. 6 is an exploded view of the lift assembly construction of the present invention;
FIG. 7 is an exploded view of the swing assembly structure of the present invention;
FIG. 8 is an exploded view of the torch clamping assembly configuration of the present invention;
FIG. 9 is an exploded view of the electrical control box assembly of the present invention;
FIG. 10 is an exploded view of the stringing assembly according to the present invention;
FIG. 11 is an exploded view of a camera module according to the present invention;
fig. 12 is an exploded view of the motion control assembly of the present invention.
The various reference numbers in the figures mean:
100. a head box assembly; 101. a front plate; 102. a back plate; 103. a top plate; 104. a base plate; 105. a left side plate; 106. a right side plate; 107. a dovetail block; 108. an aerial plug fixing shell; 151. a spline shaft support hole; 152. a trapezoidal screw shaft support hole; 154. a first electrical control box through wire slot; 155. an aerial plug-through hole;
200. a lifting assembly; 201. supporting the spline shaft; 202. a small linear bearing; 203. a motor fixing plate; 204. a through-shaft type stepping motor; 205. lifting the trapezoidal lead screw; 206. swinging the frame; 251. a linear bearing bore; 252. a through hole;
300. a swing assembly; 302. swinging the spline shaft; 303. a large linear bearing; 304. swinging the trapezoidal lead screw; 305. a swing stepping motor; 351. trapezoidal threads;
400. a welding gun clamping assembly; 401. a support link; 451. an adjustment hole; 455. a cylindrical housing; 454. a rotating tank; 402. a telescopic fixing ring; 453. a key slot hole; 403. a pressure pad; 404. a welding gun movable connecting piece; 405. a tightening seat; 406. a corner aluminum piece; 407. a fixed block; 408. a clamping sleeve; 409. a clamp spring; 410. a handle; 411. an adjustment indication block; 452. calibration;
500. an electrical control box assembly; 501. a control box body; 552. a cavity; 502. an insulating plate; 551. a second electrical control box through wire slot; 503. a carrying handle; 504. a long grip;
600. a stringing assembly; 601. a support frame; 602. an end face bearing block; 603. a wire collecting shell; 604. a concentrator shell cover; 605. a cushion cover; 651. a threaded hole; 606. customizing a bolt; 607. customizing a nut; 608. a first end face bearing; 609. a second end face bearing;
700. a camera assembly; 701. a transition plate; 702. an industrial camera;
800. a motion control assembly; 801. a pipe diameter scale; 802. a driven wheel; 803. locking the handle; 804. a protective cylinder; 805. a hinge; 806. a carbon fiber cover plate; 807. a dovetail groove;
900. a splash shield.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Example 1
Referring to fig. 1-12, the present embodiment provides a binocular vision based all-position welding carriage, which includes a head housing assembly 100, two lifting assemblies 200, two swinging assemblies 300, two welding gun clamping assemblies 400, and a camera assembly 700, wherein the head housing assembly 100 is connected to the welding carriage via a dovetail block 107 disposed at the bottom, the lifting assemblies 200 are mounted in the head housing assembly 100 via supporting spline shafts 201 disposed at both ends thereof, the swinging assemblies 300 are mounted on the lifting assemblies 200 via swinging frames 206 disposed in the lifting assemblies 200, the welding gun clamping assemblies 400 are fixed to one ends of swinging spline shafts 302 disposed in the swinging assemblies 300 via telescopic fixing rings 402 disposed therein, the camera assembly 700 is fixed above the welding gun clamping assemblies 400 via bolts, that is, the lifting assemblies 200 are connected to the swinging assemblies 300 and fixed inside the head housing assembly 100, so that the swinging assemblies 300 move up and down via the lifting assemblies 200, namely, the motion of the swing assembly 300 is fixedly connected with the swing spline shaft 302 through the telescopic fixing ring 402, so that the swing assembly 300 drives the welding gun clamping assembly 400 and the camera assembly 700 to synchronously move up and down, namely, longitudinally, and the welding gun is fixed inside the welding gun clamping assembly 400 through the welding gun, so that the camera assembly 700 at one end part is connected with the welding gun clamping assembly 700 to display the welding process of the welding gun when the welding gun performs automatic welding, and the effect of visual observation is achieved when the automatic welding is performed, so that the current welding construction pipeline is more accurate; when the single body moves linearly back and forth through the swing assembly 300, the welding gun clamping assembly 400 is synchronously driven to move back and forth, i.e., transversely, so that the welding gun achieves the automatic welding effect at the front and back positions, and the camera assembly 700 moves synchronously with the welding gun, so that the visual observation is synchronously achieved.
In this embodiment, the head box assembly 100 is formed by sequentially bolting and combining the front plate 101, the rear plate 102, the top plate 103, the bottom plate 104, the left side plate 105, the right side plate 106, the dovetail block 107 and the aviation plug fixing shell 108, so that the head box assembly 100 can be fixedly formed, and the bolted assembly facilitates subsequent disassembly and maintenance.
Wherein, the lifting assembly 200 comprises a supporting spline shaft 201, a small linear bearing 202, a motor fixing plate 203, a through shaft type stepping motor 204, a lifting trapezoidal screw 205 and a swing frame 206, the small linear bearing 202 is installed in four linear bearing holes 251 opened on the swing frame 206 through bolts, the supporting spline shaft 201 is installed in an inner hole of the small linear bearing 202, the motor fixing plate 203 is fixed at the middle part of the swing frame 206, the through shaft type stepping motor 204 is installed on the motor fixing plate 203, the lifting trapezoidal screw 205 passes through the through shaft type stepping motor 204, namely, a power supply is connected through the through shaft type stepping motor 204, so that the lifting trapezoidal screw 205 can perform vertical position transmission inside the through shaft type stepping motor 204, namely, the small linear bearing 202 is fixedly connected with the swing frame 206, the lifting trapezoidal screw 205 drives the motor fixing plate 203 and the swing frame 206 to perform synchronous vertical motion along the surface of the supporting spline shaft 201, namely, the swinging component 300 at one end drives the welding gun clamping component 400 to move, so as to achieve the process of longitudinal automatic welding of the welding gun.
Specifically, the swing assembly 300 includes a swing spline shaft 302, a large linear bearing 303, a swing trapezoidal screw 304 and a swing stepper motor 305, the swing spline shaft 302 is connected with the swing trapezoidal screw 304 through a trapezoidal thread 351 provided on an inner wall thereof, one end of the swing trapezoidal screw 304 is connected with the swing stepper motor 305, the swing spline shaft 302 and the swing trapezoidal screw 304 are both located in a through hole 252 provided in the swing frame 206, the swing stepper motor 305 is located at one end of the through hole 252 of the swing frame 206, the large linear bearing 303 is installed at the other end of the through hole 252 of the swing frame 206, the swing spline shaft 302 is connected and matched with the large linear bearing 303, wherein the bottom plate 104 is provided with four spline shaft support holes 151 and two trapezoidal screw shaft support holes 152, the front plate 101 is provided with two, so that the lifting trapezoidal screw 205 and the swinging trapezoidal screw 304 are in limited connection while the supporting spline shaft 201 is in limited support; through the swing spline shaft 302, the swing trapezoidal lead screw 304 and the inside of the swing frame 206, that is, the swing stepper motor 305 is powered on, that is, the swing stepper motor 305 drives the swing trapezoidal lead screw 304 to make the swing spline shaft 302 perform linear transmission along the trapezoidal thread 351, wherein the welding gun clamping assembly 400 is fixed at one end of the set swing spline shaft 302 through the set telescopic fixing ring 402, that is, the displacement of the swing spline shaft 302 drives the welding gun clamping assembly 400 to perform a motion position, so as to achieve welding self-adaptation at a front-back, that is, a transverse position, and synchronously achieve visual self-adaptation through the camera assembly 700. The top plate 103 is provided with a first electrical control box through wire slot hole 154, and the rear plate 102 is provided with an aerial through wire hole 155.
Meanwhile, the welding gun clamping assembly 400 sequentially comprises a support connecting rod 401, a telescopic fixing ring 402, a pressure pad 403, a welding gun movable connecting piece 404, a tightening seat 405, an angle aluminum piece 406, a fixing block 407, a clamping sleeve 408, a clamp spring 409, a handle 410 and an adjusting indication block 411, wherein the support connecting rod 401 is in sleeve fit with the telescopic fixing ring 402 through a cylindrical shell 455 arranged at one end of the support connecting rod, a rotating groove 454 is formed in one end of the cylindrical shell 455, the pressure pad 403 is installed at one end of the outer wall of the cylindrical shell 455 through a bolt, the telescopic fixing ring 402 is installed at one end of the swinging spline shaft 302 through a spline hole 453 formed in the telescopic fixing ring 402, the whole welding gun clamping assembly 400 can move along with the transverse linear movement of the lifting assembly 200, and can move along with the movement of the swinging assembly 300, and a welding gun can perform automatic adaptive horizontal welding; the support connecting rod 401 can rotate around the axis of the telescopic fixing ring 402 through the loose/tight bolt, so that the welding gun can perform single rotation and inclination adjustment, and better welding adaptation is facilitated; the adjustable indication block 411 is provided with scales 452, so that the rotation angle of the support connecting rod 401 can be obtained through the scales 452 of the adjustable indication block 411, meanwhile, the support connecting rod 401 is provided with eight adjustment holes 451, the welding gun movable connecting piece 404 is fixed on the adjustment holes 451 through bolts, the tightening seat 405 is installed at one end of the welding gun movable connecting piece 404 through the bolt pre-tightening force of the angle aluminum piece 406 and the fixing block 407, the clamping sleeve 408 is installed on the inner wall of the tightening seat 405 through clearance fit, the clamping sleeve 408 is fixed by the clamp spring 409, the welding gun can be inserted into the clamping sleeve 408, the clamping sleeve is fixed through the bolt pre-tightening force of the handle 410, the tightening seat 405 is fastened through the handle 410, clamping and fixing of various welding gun sizes can be conveniently carried out, and meanwhile, the risk that the welding gun generates vibration and falls off when being fixed is reduced through clamping and fixing.
Secondly, an electric control box assembly 500 is arranged on one end surface of the handpiece box assembly 100, the electric control box assembly 500 comprises a control box body 501, an insulating plate 502, four carrying handles 503 and two long handles 504, the insulating plate 502 is provided with a second electric control box through wire slot 551, a cavity 552 is arranged in the control box body 501, the two carrying handles 503 are respectively connected to two ends of the long handles 504, the carrying handles 503 are connected with the outer wall of the control box body 501 through welding, wherein, the top plate 103 is provided with a first electric control box through wire slot 154, the back plate 102 is provided with an aerial through wire hole 155, namely, the electric control box assembly 500 is connected with wires in the year, a circuit module can be arranged in the cavity 552 through the inside so as to drive the through shaft type stepping motor 204 and the swinging stepping motor 305, wherein, when in use, an operator holds the two long handles 504 to move or disassemble the handpiece, meanwhile, the disassembly of operators is convenient, and the adjustment and the maintenance are convenient.
Furthermore, one end of the electrical control box assembly 500 is provided with a wiring assembly 600, the wiring assembly 600 comprises a support frame 601, an end face bearing seat 602, a wiring shell 603, a wiring shell cover 604, a cushion cover 605, a customized bolt 606, a customized nut 607, a first end face bearing 608 and a second end face bearing 609, one end of the support frame 601 is fixed at one end of the control box 501 through bolts, the first end face bearing 608 is installed at the bottom end of the outer wall of the end face bearing seat 602, the second end face bearing 609 is installed at the bottom end of the inner wall of the end face bearing seat 602 and is fixed through the pre-tightening force of the customized bolt 606 and the customized nut 607, the inner wall of the cushion cover 605 is sleeved on the outer wall of one end of the customized bolt 606, one end of the customized bolt 606 is provided with four threaded holes 651, wherein the wiring shell cover 604 is installed at the top end of the wiring shell 603, that is the cushion cover 605 and the wiring shell 603 are fixed on the customized bolt 606 through a common bolt, and the wiring shell 603 is arranged on the first end face bearing 608, The second end bearing 609 supports the rotation about an axis, so that after a circuit module is placed in the interior of the electrical control box assembly 500, the cable or wire attached to a module fitting or a workpiece can be wound and collected well, and the separability of the wires and cables is enhanced.
Specifically, the camera assemblies 700 are arranged at the end parts of the welding gun clamping assemblies 400, each camera assembly 700 comprises a transition plate 701 and an industrial camera 702 arranged on the surface of the transition plate 701, and when the fixedly connected industrial camera 702 moves through the welding gun clamping assemblies 400, the industrial camera 702 moves along with the movement of the welding gun clamping assemblies 400, so that good monitoring and observation can be achieved through the effect of the industrial camera 702, the welded pipeline is accurate, and errors generated are reduced as much as possible.
In order to further improve the scheme, a motion control assembly 800 is also arranged below the head box assembly 100, wherein the motion control assembly 800 comprises a pipe diameter scale 801, a driven wheel 802, a locking handle 803, a protective cylinder 804, a hinge 805, a carbon fiber cover plate 806 and a dovetail groove 807, wherein, a driving motor is arranged inside the protective cylinder 804, and the motion control component 800 is divided into a left part and a right part which are connected by a hinge 805, and is fixed below the head box assembly 100 through a dovetail groove 807, the pipe diameter scale 801 is fixed at the left end of the dovetail groove 807 through two bolts, the driven wheel 802 is fixed between the pipe diameter scale 801 and the dovetail groove 807 through bolts, two locking handles 803 are fixed on a carbon brazing fiber cover plate 806 through bolts and are matched with a locking handle female seat to achieve a locking function, next, a splash shield 900 is provided at one end of the motion control assembly 800 to block the torch clamp assembly 400 from the motion control assembly 800.
When the binocular vision-based all-position welding tractor is used specifically, the welding gun is inserted into the clamping sleeve 408, the bolt pretightening force of the handle 410 is fixed, the through shaft type stepping motor 204 in the lifting assembly 200 drives the lifting trapezoidal screw 205 to perform longitudinal transmission, so that the swinging assembly 300 performs synchronous transmission, namely, the welding gun synchronously moves to perform welding and simultaneously performs tracking vision through the industrial camera 702; secondly, the swinging trapezoidal lead screw 304 is driven by the swinging stepping motor 305 in the swinging assembly 300, so that the welding gun can synchronously move transversely and automatically track visually through the industrial camera 702, wherein the welding gun can rotate around the axis of the telescopic fixing ring 402 through the supporting connecting rod 401, and the welding angle of the welding gun can be adjusted and adapted.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an all position welding tractor based on binocular vision which characterized in that: including aircraft nose box subassembly (100), two lifting means (200), two swing subassemblies (300), two welder centre gripping subassemblies (400) and camera subassembly (700), aircraft nose box subassembly (100) are connected with the welding carriage through dovetail (107) that the bottom set up, install at support integral key shaft (201) both ends that lifting means (200) set up in aircraft nose box subassembly (100), swing subassembly (300) warp swing frame (206) that are equipped with in lifting means (200) are installed on lifting means (200), welder centre gripping subassembly (400) are fixed in through flexible retainer plate (402) that sets up swing integral key shaft (302) one end that sets up in swing subassembly (300), camera subassembly (700) are through the bolt fastening welder centre gripping subassembly (400) top.
2. The binocular vision based all-position welding tractor according to claim 1, wherein: the aircraft nose box body subassembly (100) includes and is formed by bolted connection combination in proper order between front panel (101), back plate (102), roof (103), bottom plate (104), left side board (105), right side board (106), forked tail piece (107) and the fixed shell (108) of inserting by plane.
3. The binocular vision based all-position welding tractor according to claim 1, wherein: promote subassembly (200) including supporting spline shaft (201), little linear bearing (202), motor fixed plate (203), link up shaft type step motor (204), promote trapezoidal lead screw (205) and swing frame (206), little linear bearing (202) are installed through the bolt in four linear bearing hole (251) that swing frame (206) was seted up, it installs to support spline shaft (201) in the hole of little linear bearing (202), motor fixed plate (203) are fixed the middle part of swing frame (206), link up shaft type step motor (204) and install on motor fixed plate (203), it passes to promote trapezoidal lead screw 205 link up shaft type step motor (204).
4. The binocular vision based all-position welding tractor according to claim 1, wherein: swing subassembly (300) are including swing integral key shaft (302), big linear bearing (303), swing trapezoidal lead screw (304) and swing step motor (305), swing integral key shaft (302) through the inner wall be equipped with trapezoidal thread (351) with swing trapezoidal lead screw (304) are connected, swing trapezoidal lead screw (304) one end with swing step motor (305) hub connection, swing integral key shaft (302) all are located in through-hole (252) that swing frame 206 was seted up with swing trapezoidal lead screw (304), swing step motor (305) are located in swing frame (206) through-hole one end, install big linear bearing (303) the other end of through-hole (252) of swing frame (206), swing integral key shaft (302) with big linear bearing (303) are connected the cooperation.
5. The binocular vision based all-position welding tractor according to claim 1, wherein: the welding gun clamping assembly (400) sequentially comprises a supporting connecting rod (401), a telescopic fixing ring (402), a pressure pad (403), a welding gun movable connecting piece (404), a clamping seat (405), an angle aluminum piece (406), a fixing block (407), a clamping sleeve (408), a clamping spring (409), a handle (410) and an adjusting indication block (411), wherein the supporting connecting rod (401) is in sleeved fit with the telescopic fixing ring (402) through a cylindrical shell (455) arranged at one end part, one end of the cylindrical shell (455) is provided with a rotating groove (454), the pressure pad (403) is installed at one end of the outer wall of the cylindrical shell (455) through a bolt, the supporting connecting rod (401) is fixed with the welding gun movable connecting piece (404) through a plurality of adjusting holes (451) formed in the supporting connecting rod, the clamping seat (405) is installed at one end of the welding gun movable connecting piece (404) through the angle aluminum piece (406) and the bolt pretightening force of the fixing block (407), the clamping sleeve (408) is installed on the inner wall of the clamping seat (405) through clearance fit.
6. The binocular vision based all-position welding tractor according to claim 1, wherein: the electric control box assembly (500) is arranged on the surface of one end of the handpiece box assembly (100), the electric control box assembly (500) sequentially comprises a control box body (501), an insulating plate (502), four carrying handles (503) and two long handles (504), the insulating plate (502) is provided with a second electric control box through wire slotted hole (551), a cavity (552) is arranged in the control box body (501), the two carrying handles (503) are respectively connected to two ends of the long handles (504), and the carrying handles (503) are connected with the outer wall of the control box body (501) through welding.
7. The binocular vision based all-position welding tractor according to claim 6, wherein: one end of the electric control box component (500) is provided with a wiring component (600), the wiring component (600) comprises a supporting frame (601), an end surface bearing seat (602), a wire collecting shell (603), a wire collecting shell cover (604), a cushion cover (605), a customized bolt (606), a customized nut (607), a first end surface bearing (608) and a second end surface bearing (609), one end of the support frame (601) is fixed at one end of the control box body (501) through a bolt, the first end face bearing (608) is arranged at the bottom end of the outer wall of the end face bearing seat (602), the second end face bearing (609) is arranged at the bottom end of the inner wall of the end face bearing seat (602) and is fixed through the pretightening force of the customized bolt (606) and the customized nut (607), the inner wall of the cushion cover (605) is sleeved on the outer wall of one end of the customized bolt (606), and one end of the customized bolt (606) is provided with four threaded holes (651).
8. The binocular vision based all-position welding tractor according to claim 5, wherein: the camera assemblies (700) are arranged at the ends of the welding gun clamping assemblies (400), and each camera assembly (700) comprises a transition plate (701) and an industrial camera (702) arranged on the surface of the transition plate (701).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110797782.6A CN113369762A (en) | 2021-07-14 | 2021-07-14 | Full position welding tractor based on binocular vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110797782.6A CN113369762A (en) | 2021-07-14 | 2021-07-14 | Full position welding tractor based on binocular vision |
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| CN113369762A true CN113369762A (en) | 2021-09-10 |
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Cited By (1)
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|---|---|---|---|---|
| CN114799437A (en) * | 2022-04-08 | 2022-07-29 | 新疆大学 | Double-welding-torch movement mechanism design of all-position welding equipment |
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