CN104985299A - Double-station automatic argon arc welding device based on CCD - Google Patents
Double-station automatic argon arc welding device based on CCD Download PDFInfo
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- CN104985299A CN104985299A CN201510412553.2A CN201510412553A CN104985299A CN 104985299 A CN104985299 A CN 104985299A CN 201510412553 A CN201510412553 A CN 201510412553A CN 104985299 A CN104985299 A CN 104985299A
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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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Geometry (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of welding equipment, and discloses a double-station automatic argon arc welding device based on CCD (Charge Coupled Device) in order to solve the problems that the stability of manual welding operation is poor and the welding efficiency is low. The double-station automatic argon arc welding device is characterized in that a bottom travelling mechanism of the double-station automatic argon arc welding device is arranged on a base; the travelling guide direction of the bottom travelling mechanism is parallel to the distribution directions of two welding positioners; an upright column is slidingly connected with the bottom travelling mechanism; the surface of one side of the upright column is connected with a cross beam by a sliding seat; a welding joint normal direction rotating mechanism is arranged at one end, close to the welding positioners, of the cross beam; the other end of the cross beam is connected with a driving mechanism; a lifting mechanism is arranged on the upper end face of the upright column; the upper end face of the upright column is further fixedly connected with the head end of an L-shaped bracket; each welding positioner comprises a driving alternating current motor, a positioner base and a positioner table top; the positioner bases are arranged on the base; and the positioner table tops are arranged on the top end faces of the positioner base, and are used for placing to-be-welded workpieces. The double-station automatic argon arc welding device is an automatic welding device.
Description
Technical field
The present invention relates to the double argonaut welding welder based on CCD, belong to technical field of welding equipment.
Background technology
At present, in human weld's engineer operation, there are problems, on the one hand because artificial poor stability and welding quality are not high, can not ensure to weld homogeneity; On the other hand that artificial production efficiency is lower, can not operation in 24 hours; The arc light produced in welding process in addition, smog and splashing etc. have very large injury to human body.
Summary of the invention
The present invention seeks to, in order to solve the problem that human weld's job stabilization is poor and welding efficiency is low, to provide a kind of double argonaut welding welder based on CCD.
Double argonaut welding welder based on CCD of the present invention, it comprises manipulator, two positioners, base and switch boards,
Manipulator and two positioners are all arranged on base, and two positioners are that specular is arranged;
Manipulator comprises bottom walking mechanism, column, crossbeam, slide, weld seam normal direction rotating mechanism, hoisting mechanism and L-type support,
Bottom walking organization establishes is on base, the walking guiding of bottom walking mechanism is parallel with the arragement direction of two positioners, column and bottom mechanism slips of walking is connected, one side surface of column is connected by slide with crossbeam, column and slide longitudinally relative sliding are arranged, crossbeam and slide in the horizontal direction relative sliding are arranged, crossbeam is vertical with the arragement direction of two positioners, nearly positioner one end of crossbeam arranges weld seam normal direction rotating mechanism, and the other end of crossbeam is connected with driving mechanism; The upper surface of column arranges hoisting mechanism, the elevating movement of hoisting mechanism by driving slide to realize crossbeam; The upper surface of column is also fixedly connected with the head end of L-type support, the end of L-type support is used for mounting industrial CCD positioner, and industrial CCD positioner is for determining the installation site of industrial CCD; L-type support place plane is parallel with crossbeam, and the end of L-type support points to positioner;
Every platform positioner comprises driving alternating current generator, positioner base and positioner table top, and positioner base is arranged on base, the top end face of positioner base is arranged positioner table top, and positioner table top is for placing workpiece to be welded; Alternating current generator is driven to be arranged in the space that formed between positioner base and positioner table top, driving alternating current generator to realize self revolution and table top pitching for driving positioner table top, being realized the displacement of each solder side of workpiece to be welded by the motion of positioner table top; The weld seam normal direction rotating mechanism welding position realizing workpiece to be welded of matching with positioner table top adjusts;
Arrange motion control card and CCD in switch board to drive and image processing module,
The image information that CCD drives and image processing module obtains for receiving industrial CCD collection, and image information is corrected, strengthen and edge extracting, obtain welding seam position information, described welding seam position information passes to motion control card, and motion control card control positioner and manipulator carry out weld job.
Arrange isolated screen between two positioners, described isolated screen is fixed on base.
Advantage of the present invention: the invention solves in human weld's engineer operation that to there is artificial poor stability, welding quality not high, can not ensure to weld homogeneity and artificial production efficiency is lower and the arc light, smog and splashing etc. that produce in welding process have the problems such as very large injury to human body.
The present invention adopts and automatically identifies weld seam and argonaut welding welding, and the production efficiency that both improve product turn improves welding quality.It in welding process, protect workman to avoid being subject to producing in welding process arc light, the injury such as smog and splashing.
Accompanying drawing explanation
Fig. 1 is a kind of orientation structural representation of the double argonaut welding welder based on CCD of the present invention;
Fig. 2 is the another kind of orientation structural representation of the double argonaut welding welder based on CCD of the present invention;
Fig. 3 is welding overview flow chart of the present invention;
Fig. 4 is double argonaut welding welding system flow chart.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described below in conjunction with Fig. 1 and Fig. 2, based on the double argonaut welding welder of CCD described in present embodiment, it comprises manipulator, two positioners, base 3 and switch boards,
Manipulator and two positioners are all arranged on the base 3, and two positioners are that specular is arranged;
Manipulator comprises bottom walking mechanism 1-1, column 1-2, crossbeam 1-3, slide 1-4, weld seam normal direction rotating mechanism 1-5, hoisting mechanism 1-6 and L-type support 1-7,
Bottom walking mechanism 1-1 is arranged on the base 3, the walking guiding of bottom walking mechanism 1-1 is parallel with the arragement direction of two positioners, column 1-2 and bottom walking mechanism 1-1 is slidably connected, one side surface of column 1-2 is connected by slide 1-4 with crossbeam 1-3, column 1-2 and slide 1-4 longitudinally relative sliding is arranged, crossbeam 1-3 and slide 1-4 in the horizontal direction relative sliding is arranged, crossbeam 1-3 is vertical with the arragement direction of two positioners, nearly positioner one end of crossbeam 1-3 arranges weld seam normal direction rotating mechanism 1-5, the other end of crossbeam 1-3 is connected with driving mechanism, the upper surface of column 1-2 is arranged hoisting mechanism 1-6, the elevating movement of hoisting mechanism 1-6 by driving slide 1-4 to realize crossbeam 1-3, the upper surface of column 1-2 is also fixedly connected with the head end of L-type support 1-7, the end of L-type support 1-7 is used for mounting industrial CCD positioner, and industrial CCD positioner is for determining the installation site of industrial CCD, L-type support 1-7 place plane is parallel with crossbeam 1-3, and the end of L-type support 1-7 points to positioner,
Every platform positioner comprises driving alternating current generator 2-1, positioner base 2-2 and positioner table top 2-3, positioner base 2-2 is arranged on the base 3, the top end face of positioner base 2-2 is arranged positioner table top 2-3, positioner table top 2-3 is for placing workpiece to be welded; In the space driving alternating current generator 2-1 to be arranged on to be formed between positioner base 2-2 and positioner table top 2-3, driving alternating current generator 2-1 to realize self revolution and table top pitching for driving positioner table top 2-3, being realized the displacement of each solder side of workpiece to be welded by the motion of positioner table top 2-3; The weld seam normal direction rotating mechanism 1-5 welding position realizing workpiece to be welded of matching with positioner table top 2-3 adjusts;
Arrange motion control card and CCD in switch board to drive and image processing module,
The image information that CCD drives and image processing module obtains for receiving industrial CCD collection, and image information is corrected, strengthen and edge extracting, obtain welding seam position information, described welding seam position information passes to motion control card, and motion control card control positioner and manipulator carry out weld job.
In present embodiment, column 1-2, crossbeam 1-3 and slide 1-4 form three-dimensional motion mechanism jointly.Column 1-2 and crossbeam 1-3 adopts rectangular tube main body, carries out machining again form after welding through heat aging process.Crossbeam 1-3 installs line slideway, and the simple good rigidly of structure, precision is high and precision stability good.Column 1-2 adopts riser guide directly to process, and structure is simple, economical and practical.Slide 1-4 is the transition portion connecting column 1-2 and crossbeam 1-3, slide 1-4 is provided with two groups of guiding mechanisms, coordinates respectively with column line slideway and crossbeam line slideway, slide 1-4 installs crossbeam movable motor and crossbeam lifting screw pair.Hoisting mechanism 1-6 drives ball guide screw nat to promote whole header portion by the speed reducer for servo motor being arranged on column top.The driving mechanism of crossbeam 1-3 is control the flexible mechanism of crossbeam, and it drives high precision ball feed screw nut to realize the Telescopic of crossbeam by speed reducer for servo motor.Bottom walking mechanism 1-1 is led by line slideway, and ball guide screw nat drives, and it is provided with dust-proof mechanism.Weld seam normal direction rotating mechanism 1-5 on crossbeam 1-3 uses servomotor and accurate planetary reducer to realize corresponding function.
Behind the installation site of industrial CCD positioner location industrial CCD, make industrial CCD be positioned at about 1.1m place directly over corresponding positioner, and height is adjustable in 0-30cm.
Positioner has coordinated the displacement work of each solder side of workpiece to be welded with weld seam normal direction rotating mechanism 1-5, and positioner table top 2-3 can realize self revolution and table top pitching two actions.Positioner table top 2-3 is rectangle steel structure, forms through machining.After each clamping of workpiece to be welded, the displacement work of its solder side is completed automatically by positioner, and midway does not need to dismantle workpiece.
The upset of positioner table top 2-3, has been driven by alternating current generator reductor.Positioner table top 2-3 controls pitch position by photoelectric proximity switch and travel switch, and positioning precision is higher.Positioner table top 2-3 spins upside down 90 ° into standard.Self revolution of positioner table top 2-3 is completed by speed reducer for servo motor driven wheel, and with can the reaching degree of precision work that replaces, realizes the positive and negative Rotating with Uniform of table top.Positioner table top 2-3 shape and size are determined by the shape of welded part and size.
In welding process, welding gun is clamped by clamp and can be regulated certain angle, simultaneously in conjunction with the normal tracing function of welding gun, can keep in the moment becoming an angle of 90 degrees with weld seam, to ensure the precision of welding and attractive in appearance.
Can mounting industrial controller and man-machine interaction screen in switch board, motion control card and CCD are installed in Industrial Control Computer and drive and image processing module.When having controlled a welding operation, control manipulator has been moved to another positioner place and has carried out weld job by CCD driving and image processing module.
The image procossing of CCD driving and image processing module adopts the edge extracting of the algorithm realization image in OpenCV, accurately can extract the welding seam position information of welding work pieces, greatly improve welding precision.
In concrete control procedure, adopt industrial computer to receive, process the image information of imageing sensor acquisition, and send manipulator movement instruction, positioner rotation and upset instruction, control manipulator and positioner coordinative operation, and then complete weld task.
Detailed description of the invention two: present embodiment is described below in conjunction with Fig. 1 to Fig. 4, present embodiment is described further embodiment one, arranges isolated screen in present embodiment between two positioners, and described isolated screen is fixing on the base 3.
Between two positioners, isolated screen is set, for the protection of workman.
Switch board in the present invention is furnished with keyboard, startup, stopping, the anxious button such as to stop, and handled easily person tests system and controls, and ensures the safety of operator.
Composition graphs 3 and Fig. 4, Industrial Control Computer gathers workpiece image on one of them positioner A by the industrial CCD on programme-control crossbeam, be transferred to after on industrial computer by USB, adopt image processing algorithm analysis chart picture, obtain workpiece information to be welded in image, determine object welding track to be welded, through Coordinate Conversion, send instructions to the motion of motion control card control manipulator, thus complete the welding of bottom surface.For square cross, after completing bottom surface welding, drive workpiece turning 90 ° by positioner A, obtain the starting point of facade welding according to processing result image, the size in conjunction with soldered stainless steel substrates completes the welding of one of them facade; Then drive workpiece to rotate 180 ° by positioner A, and then complete the welding of another facade, finally by positioner A, workpiece is set level, get back to original position and complete the welding of this workpiece.In the process, workman completes the spot welding work of material loading and stainless sheet steel at another positioner B, at a distance of 1.2 meters between two positioners.Then manipulator is traversing to station B, welds the workpiece on positioner B; Workman moves to station A simultaneously, carries out blanking, material loading and spot welding work to the workpiece on positioner A.Circulate successively.There is isolated screen between two stations, workman and manipulator are separated, ensure the safety of workman in welding process.
Claims (2)
1. based on a double argonaut welding welder of CCD, it is characterized in that, it comprises manipulator, two positioners, base (3) and switch boards,
Manipulator and two positioners are all arranged on base (3), and two positioners are that specular is arranged;
Manipulator comprises bottom walking mechanism (1-1), column (1-2), crossbeam (1-3), slide (1-4), weld seam normal direction rotating mechanism (1-5), hoisting mechanism (1-6) and L-type support (1-7)
Bottom walking mechanism (1-1) is arranged on base (3), the walking guiding of bottom walking mechanism (1-1) is parallel with the arragement direction of two positioners, column (1-2) and bottom walking mechanism (1-1) are slidably connected, one side surface of column (1-2) is connected by slide (1-4) with crossbeam (1-3), column (1-2) and slide (1-4) longitudinally relative sliding are arranged, crossbeam (1-3) and slide (1-4) in the horizontal direction relative sliding are arranged, crossbeam (1-3) is vertical with the arragement direction of two positioners, nearly positioner one end of crossbeam (1-3) arranges weld seam normal direction rotating mechanism (1-5), the other end of crossbeam (1-3) is connected with driving mechanism, the upper surface of column (1-2) is arranged hoisting mechanism (1-6), the elevating movement of hoisting mechanism (1-6) by driving slide (1-4) to realize crossbeam (1-3), the upper surface of column (1-2) is also fixedly connected with the head end of L-type support (1-7), the end of L-type support (1-7) is used for mounting industrial CCD positioner, and industrial CCD positioner is for determining the installation site of industrial CCD, L-type support (1-7) place plane is parallel with crossbeam (1-3), and the end of L-type support (1-7) points to positioner,
Every platform positioner comprises driving alternating current generator (2-1), positioner base (2-2) and positioner table top (2-3), positioner base (2-2) is arranged on base (3), the top end face of positioner base (2-2) is arranged positioner table top (2-3), positioner table top (2-3) is for placing workpiece to be welded; Alternating current generator (2-1) is driven to be arranged in the space of formation between positioner base (2-2) and positioner table top (2-3), driving alternating current generator (2-1) to realize self revolution and table top pitching for driving positioner table top (2-3), being realized the displacement of each solder side of workpiece to be welded by the motion of positioner table top (2-3); Weld seam normal direction rotating mechanism (1-5) welding position realizing workpiece to be welded of matching with positioner table top (2-3) adjusts;
Arrange motion control card and CCD in switch board to drive and image processing module,
The image information that CCD drives and image processing module obtains for receiving industrial CCD collection, and image information is corrected, strengthen and edge extracting, obtain welding seam position information, described welding seam position information passes to motion control card, and motion control card control positioner and manipulator carry out weld job.
2. the double argonaut welding welder based on CCD according to claim 1, is characterized in that, arrange isolated screen between two positioners, described isolated screen is fixed on base (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510412553.2A CN104985299A (en) | 2015-07-14 | 2015-07-14 | Double-station automatic argon arc welding device based on CCD |
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| CN201510412553.2A CN104985299A (en) | 2015-07-14 | 2015-07-14 | Double-station automatic argon arc welding device based on CCD |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271168A (en) * | 2016-10-10 | 2017-01-04 | 中国地质大学（武汉） | A kind of corner post of container robot welding system |
| CN107138881A (en) * | 2017-05-21 | 2017-09-08 | 北京工业大学 | A kind of ring flange auto-alignment system |
| CN107695576A (en) * | 2017-11-22 | 2018-02-16 | 南京奥特电气股份有限公司 | A kind of double end 4 wheel driven welds center |
| WO2018041015A1 (en) * | 2016-08-29 | 2018-03-08 | 广州敏瑞汽车零部件有限公司 | Special machine for automatically assembling front windshield side batten |
| CN109093232A (en) * | 2018-07-26 | 2018-12-28 | 安徽蓝瑟智能科技有限公司 | A kind of multi-functional automatic argon arc welder |
| CN109454388A (en) * | 2017-09-06 | 2019-03-12 | 长沙华恒机器人系统有限公司 | Girth welding system |
| CN109562495A (en) * | 2017-04-19 | 2019-04-02 | 深圳配天智能技术研究院有限公司 | A kind of automatic welding work system and its operating method |
| CN110193695A (en) * | 2019-05-31 | 2019-09-03 | 成都中迪焊割设备有限公司 | It is a kind of for welding the Intelligent welding system of fluid torque-converter upper cover fixed block |
| CN110280934A (en) * | 2019-07-16 | 2019-09-27 | 无锡金红鹰工业自动化有限公司 | A kind of H profile steel column welding workstation |
| CN111112891A (en) * | 2019-12-30 | 2020-05-08 | 安徽省绩溪家德钢结构有限责任公司 | Special machine for welding tower foot of iron tower |
| CN112192020A (en) * | 2020-09-28 | 2021-01-08 | 哈尔滨理工大学 | Fixture for machining cross-scale micro-features of ball end milling cutter |
| CN113369785A (en) * | 2021-05-31 | 2021-09-10 | 天津鹏程誉泰液压支架有限公司 | Workpiece positioner |
| CN113714595A (en) * | 2021-09-11 | 2021-11-30 | 西安航空学院 | Metal material welding device |
| CN113751917A (en) * | 2021-10-18 | 2021-12-07 | 深圳市联智波峰焊配件有限公司 | Automatic welding equipment for stand column |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018041015A1 (en) * | 2016-08-29 | 2018-03-08 | 广州敏瑞汽车零部件有限公司 | Special machine for automatically assembling front windshield side batten |
| CN106271168B (en) * | 2016-10-10 | 2019-08-20 | 中国地质大学（武汉） | A kind of corner post of container robot welding system |
| CN106271168A (en) * | 2016-10-10 | 2017-01-04 | 中国地质大学（武汉） | A kind of corner post of container robot welding system |
| CN109562495A (en) * | 2017-04-19 | 2019-04-02 | 深圳配天智能技术研究院有限公司 | A kind of automatic welding work system and its operating method |
| CN107138881A (en) * | 2017-05-21 | 2017-09-08 | 北京工业大学 | A kind of ring flange auto-alignment system |
| CN107138881B (en) * | 2017-05-21 | 2019-02-26 | 北京工业大学 | A kind of ring flange auto-alignment system |
| CN109454388A (en) * | 2017-09-06 | 2019-03-12 | 长沙华恒机器人系统有限公司 | Girth welding system |
| CN107695576A (en) * | 2017-11-22 | 2018-02-16 | 南京奥特电气股份有限公司 | A kind of double end 4 wheel driven welds center |
| CN109093232A (en) * | 2018-07-26 | 2018-12-28 | 安徽蓝瑟智能科技有限公司 | A kind of multi-functional automatic argon arc welder |
| CN110193695A (en) * | 2019-05-31 | 2019-09-03 | 成都中迪焊割设备有限公司 | It is a kind of for welding the Intelligent welding system of fluid torque-converter upper cover fixed block |
| CN110280934A (en) * | 2019-07-16 | 2019-09-27 | 无锡金红鹰工业自动化有限公司 | A kind of H profile steel column welding workstation |
| CN111112891A (en) * | 2019-12-30 | 2020-05-08 | 安徽省绩溪家德钢结构有限责任公司 | Special machine for welding tower foot of iron tower |
| CN112192020A (en) * | 2020-09-28 | 2021-01-08 | 哈尔滨理工大学 | Fixture for machining cross-scale micro-features of ball end milling cutter |
| CN113369785A (en) * | 2021-05-31 | 2021-09-10 | 天津鹏程誉泰液压支架有限公司 | Workpiece positioner |
| CN113714595A (en) * | 2021-09-11 | 2021-11-30 | 西安航空学院 | Metal material welding device |
| CN113714595B (en) * | 2021-09-11 | 2023-01-13 | 西安航空学院 | Metal material welding device |
| CN113751917A (en) * | 2021-10-18 | 2021-12-07 | 深圳市联智波峰焊配件有限公司 | Automatic welding equipment for stand column |
| CN113751917B (en) * | 2021-10-18 | 2023-12-22 | 重庆兴意电梯部件有限公司 | Automatic welding equipment for stand column |
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