CN106002023B - Car is climbed in a kind of Intelligent vision tracking welding - Google Patents
Car is climbed in a kind of Intelligent vision tracking welding Download PDFInfo
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- CN106002023B CN106002023B CN201610405857.0A CN201610405857A CN106002023B CN 106002023 B CN106002023 B CN 106002023B CN 201610405857 A CN201610405857 A CN 201610405857A CN 106002023 B CN106002023 B CN 106002023B
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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
- B23K37/0252—Steering 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/0294—Transport carriages or vehicles
Abstract
Car is climbed in a kind of Intelligent vision tracking welding,Including control cabinet,First straight line motor,First movable block,Second magnet,Vehicle frame,Wheel,First magnet,Second movable block,Flake bearing,Welding gun,Cylinder,Frame,Second motor,Support,Second straight line motor,Baffle plate,Wheel carrier,First motor,Rack,First gear,Support,Sliding block,Slide rail,Expansion link,Support plate,5th gear,4th motor,6th gear,First chain,Rotating shaft,Bearing bracket stand,3rd gear,4th gear,Support,3rd motor,Second gear,Wheel shaft,Second chain,Laser line generator,Ccd image sensor,Laser-vision sensing device and data handling system,Installation wheel carrier on the right side of the vehicle frame,First gear is installed on wheel carrier,The axle of first gear is connected by shaft coupling with the first motor,First motor is arranged on wheel carrier；It is an advantage of the invention that：There is the workpiece of Curvature varying without laying track, and those weld seams can be welded.
Description
Technical field
The present invention relates to a kind of tracking welding of Intelligent vision to climb car, belongs to technical field of welding equipment.
Background technology
It is related to many welding manufacture work in shipbuilding industry, has substantial amounts of steel plate to need to weld.At present, smooth steel plate is simultaneously
And be being welded using welding tractor for straight weld, welding quality is guaranteed.Using the welding tractor, worker is first wanted
By weld seam exactly laying allow welding tractor run straight way rail, but many occasions can not lay or be difficult laying track,
Also weld seam has the workpiece of Curvature varying, can only just lean on worker's manual welding.In order to solve above-mentioned difficulties, it is necessary to develop it is a not
With laying track, and can weld those weld seams have Curvature varying workpiece Intelligent vision tracking welding climb car.
The content of the invention
It is an object of the invention to provide a kind of tracking welding of Intelligent vision to climb car.
The problem to be solved in the present invention is that the welding tractor of prior art is required for laying track, and can not weld those welderings
The problem of being sewed with the workpiece of Curvature varying.
To realize the purpose of the present invention, the technical solution adopted by the present invention is：
Car, including control cabinet, first straight line motor, the first movable block, the second magnetic are climbed in a kind of Intelligent vision tracking welding
It is iron, vehicle frame, wheel, the first magnet, the second movable block, flake bearing, welding gun, cylinder, frame, the second motor, support, second straight
Line motor, baffle plate, wheel carrier, the first motor, rack, first gear, support, sliding block, slide rail, expansion link, support plate, the 5th gear,
4th motor, the 6th gear, the first chain, rotating shaft, bearing bracket stand, the 3rd gear, the 4th gear, support, the 3rd motor, the second tooth
Wheel, wheel shaft, the second chain, laser line generator, ccd image sensor, laser-vision sensing device and data handling system, institute
Installation wheel carrier on the right side of vehicle frame to be stated, first gear is installed on wheel carrier, the axle of first gear is connected by shaft coupling with the first motor, the
One motor is arranged on wheel carrier, and installation rack on the right side of first gear, rack is arranged under support, and support is arranged on sliding block, sliding
Block is arranged on slide rail, and second straight line motor is installed under rack, the second movable block, the second movable block are installed on second straight line motor
The second motor of lower installation, the output shaft of the second motor are arranged on flake bearing, and flake bearing is arranged on welding gun, the second motor
Output shaft on the right side of installation frame, cylinder is installed under frame, the piston rod of cylinder is hingedly mounted on welding gun, is installed on the right side of rack
Baffle plate, baffle plate are located at the right side of welding gun, and support is installed on the right side of rack, laser-vision sensing device, laser vision are installed under support
Installation laser line generator on the left of sensing device, laser-vision sensing device right side installation ccd image sensor, laser vision pass
Installation data processing system on induction device, data handling system are occurred with ccd image sensor and line laser respectively by wire
Device is connected, and two rotating shafts of installation in vehicle frame, rotating shaft both ends are stretched out outside vehicle frame, and support plate is respectively installed at rotating shaft both ends, is installed and is stretched under support plate
Contracting bar, installs the first magnet under expansion link, the first magnet side installation first straight line motor, and first is installed on first straight line motor
Movable block, the second magnet is installed on the first movable block, the 5th gear, the tooth of screw rod the 5th of homonymy are each side installed in rotating shaft
Second chain is installed, the second chain left end is arranged on the 6th gear, and the 6th gear is arranged on the output shaft of the 4th motor on wheel
On, the 4th motor is arranged in frame, and two wheel shafts are each side installed in frame, and wheel shaft is arranged on bearing bracket stand, bearing
Frame is arranged in vehicle frame, installing wheel on wheel shaft, and wheel shaft front end installation second gear, the first chain is arranged on two second gears
On, the first chain is located at below rotating shaft, and the 3rd gear is installed on the wheel shaft on right side, the 4th tooth is installed on the right side of the 3rd gear
Wheel, the 4th gear are arranged on the output shaft of the 3rd motor, and the 3rd motor is arranged on support, and support is arranged in vehicle frame, car
Control cabinet is installed on frame, control cabinet by wire respectively with data handling system, first straight line motor, the second motor, welding gun,
Two linear electric motors, the first motor, expansion link, the 4th motor and the 3rd motor are connected.
The cylinder internal solenoid valve, magnetic valve are connected by wire with control cabinet.
The support plate is made up of elastomeric material.
The laser line generator sends line laser and is irradiated to weld seam, the laser of reflection received by ccd image sensor and
Imaging.
It is an advantage of the invention that：Laser line generator sends line laser and is irradiated to weld seam, and the laser of reflection is passed by ccd image
Sensor receives, imaging, and data handling system passes information to control cabinet；Control cabinet controls the first electric motor starting, makes the first tooth
Wheel rotation, moves up and down rack, moves up and down welding gun；Control cabinet controls second straight line electric motor starting, makes the second movable block
It is mobile, move left and right welding gun；Control cabinet controls the second electric motor starting, rotates welding gun and cylinder；Control cabinet control cylinder is done
Stretching motion, cylinder promotes torch swinging, to adjust the direction of welding gun；Control cabinet control expansion link does stretching motion, makes first
Magnet moves up and down, to adjust the distance between the first magnet and workpiece, when vehicle frame is in vertical metal works plane work,
Make the first magnet close to workpiece surface, improve the magnetic attracting force between the first magnet and workpiece, make vehicle frame it is firm vertical
Metal works plane work, avoid vehicle frame from falling down；Control cabinet controls first straight line electric motor starting, makes the first movable block left
Move right, move left and right the second magnet；Control cabinet controls the 4th electric motor starting, rotates the 6th gear, revolves the second chain
Turn, rotate the 5th gear, rotate support plate, rotate the first magnet and the second magnet, to adjust the first magnet and the second magnetic
The distance between iron and metal works plane；Control cabinet controls the 3rd electric motor starting, rotates the 4th gear, revolves the 3rd gear
Turn, rotate wheel shaft, rotate wheel, when the 3rd motor rotation of the 3rd motor speed ratio opposite side of side is fast, homonymy
Second gear rotation faster, make homonymy wheel rotate faster, make vehicle frame towards side reverse, vehicle frame is taken an unnecessary way, make
Welding gun is taken an unnecessary way with vehicle frame has the workpiece of Curvature varying to weld those weld seams.
Brief description of the drawings
Fig. 1 is that car overall structure figure is climbed in a kind of Intelligent vision tracking welding of the present invention；
Fig. 2 is the top view of vehicle frame inner structure；
Fig. 3 is the mplifying structure schematic diagram of a portions structure；
In figure：1st, control cabinet 2, first straight line motor 3, the first movable block 4, the second magnet 5, vehicle frame 6, wheel 7,
First magnet 8, the second movable block 9, flake bearing 10, welding gun 11, cylinder 12, frame 13, the second motor 14, support
15th, second straight line motor 16, baffle plate 17, wheel carrier 18, the first motor 19, rack 20, first gear 21, support 22, cunning
Block 23, slide rail 24, expansion link 25, support plate 26, the 5th gear 27, the 4th motor 28, the 6th gear 29, the first chain
30th, rotating shaft 31, bearing bracket stand 32, the 3rd gear 33, the 4th gear 34, support 35, the 3rd motor 36, second gear 37,
Wheel shaft 38, the second chain 39, laser line generator 40, ccd image sensor 41, laser-vision sensing device 42, data
Processing system.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is further illustrated.
Car, including control cabinet 1, first straight line motor 2, the first movable block are climbed in a kind of Intelligent vision tracking welding of the present invention
3rd, the second magnet 4, vehicle frame 5, wheel 6, the first magnet 7, the second movable block 8, flake bearing 9, welding gun 10, cylinder 11, frame 12,
Second motor 13, support 14, second straight line motor 15, baffle plate 16, wheel carrier 17, the first motor 18, rack 19, first gear 20,
Support 21, sliding block 22, slide rail 23, expansion link 24, support plate 25, the 5th gear 26, the 4th motor 27, the 6th gear 28, the first chain
Articles 29, rotating shaft 30, bearing bracket stand 31, the 3rd gear 32, the 4th gear 33, support 34, the 3rd motor 35, second gear 36, wheel shaft
37th, the second chain 38, laser line generator 39, ccd image sensor 40, laser-vision sensing device 41 and data handling system
42, installation wheel carrier 17 in the right side of the vehicle frame 5 installs first gear 20 on wheel carrier 17, the axle of first gear 20 by shaft coupling with
First motor 18 is connected, and the first motor 18 is arranged on wheel carrier 17, and control cabinet 1 controls the first motor 18 to start, and makes first gear
20 rotations, move up and down rack 19, move up and down welding gun 10；The right side of first gear 20 installation rack 19, rack 19 are installed
Under support 21, support 21 is arranged on sliding block 22, and sliding block 22 is arranged on slide rail 23,19 times installation second straight line motors of rack
15, the second movable block 8 is installed, control cabinet 1 controls second straight line motor 15 to start, makes the second movable block on second straight line motor 15
8 movements, move left and right welding gun 10；Second movable block 8 times installs the second motor 13, and control cabinet 1 controls the second motor 13 to start,
Rotate welding gun 10 and cylinder 11；The output shaft of second motor 13 is arranged on flake bearing 9, and flake bearing 9 is arranged on welding gun
On 10, installation frame 12 on the right side of the output shaft of the second motor 13,12 times installation cylinders 11 of frame, the internal solenoid valve of cylinder 11, electricity
Magnet valve is connected by wire with control cabinet 1, and control cabinet 1 controls cylinder 11 to do stretching motion, and cylinder 11 promotes welding gun 10 to swing, and comes
Adjust the direction of welding gun 10；The piston rod of cylinder 11 is hingedly mounted on welding gun 10, the right side of rack 19 installation baffle plate 16, baffle plate 16
Positioned at the right side of welding gun 10, the right side of rack 19 installation support 14,14 times installation laser-vision sensing devices 41 of support, laser vision
The left side of sensing device 41 installation laser line generator 39, the right side of laser-vision sensing device 41 installation ccd image sensor 40, swashs
Installation data processing system 42 on light vision device 41, data handling system 42 are sensed with ccd image respectively by wire
Device 40 is connected with laser line generator 39, and laser line generator 39 sends line laser and is irradiated to weld seam, and the laser of reflection is schemed by CCD
As sensor 40 receives, is imaged, data handling system 42 passes information to control cabinet 1；Two rotating shafts 30 of installation in vehicle frame 5,
The both ends of rotating shaft 30 are stretched out outside vehicle frame 5, and support plate 25 is respectively installed at the both ends of rotating shaft 30, and support plate 25 is made up of elastomeric material, 25 times peaces of support plate
Expansion link 24 is filled, control cabinet 1 controls expansion link 24 to do stretching motion, moves up and down the first magnet 7, to adjust the first magnet 7
The distance between workpiece, when vehicle frame 5 is in vertical metal works plane work, the first magnet 7 is set to be carried close to workpiece surface
Magnetic attracting force between high first magnet 7 and workpiece, make vehicle frame 5 is firm to be worked in vertical metal works plane, avoid
Vehicle frame 5 is fallen down；24 times the first magnet 7 of installation of expansion link, the side of the first magnet 7 installation first straight line motor 2, first straight line
First movable block 3 is installed on motor 2, the second magnet 4 is installed on first movable block 3, control cabinet 1 controls first straight line motor 2 to open
It is dynamic, the first movable block 3 is moved left and right, moves left and right the second magnet 4；5th gear is each side installed in rotating shaft 30
26, the second chain 38 is installed on the gear 26 of screw rod the 5th of homonymy, the left end of the second chain 38 is arranged on the 6th gear 28, and the 6th
Gear 28 is arranged on the output shaft of the 4th motor 27, and the 4th motor 27 is arranged in frame 12, and control cabinet 1 controls the 4th motor
27 start, and rotate the 6th gear 28, rotate the second chain 38, rotate the 5th gear 26, rotate support plate 25, make first
The magnet 4 of magnet 7 and second rotates, to adjust the distance between the first magnet 7 and the second magnet 4 and metal works plane；Frame
Two wheel shafts 37 are each side installed, wheel shaft 37 is arranged on bearing bracket stand 31, and bearing bracket stand 31 is arranged in vehicle frame 5, wheel in 12
Installing wheel 6 on axle 37, the front end of wheel shaft 37 installation second gear 36, the first chain 29 are arranged in two second gears 36, the
One chain 29 is located at the lower section of rotating shaft 30, installs the 3rd gear 32 on the wheel shaft 37 on right side, the right side of the 3rd gear 32 installation the
Four gears 33, the 4th gear 33 are arranged on the output shaft of the 3rd motor 35, and the 3rd motor 35 is arranged on support 34, support 34
In vehicle frame 5, control cabinet 1 controls the 3rd motor 35 to start, and rotates the 4th gear 33, rotates the 3rd gear 32, make
Wheel shaft 37 rotates, and rotates wheel 6, when the 3rd motor 35 of the speed ratio opposite side of the 3rd motor 35 of side rotates fast, together
The second gear 36 of side, which rotates, faster, makes the wheel 6 of homonymy rotate faster, vehicle frame 5 is reversed towards side, vehicle frame 5 is walked
Detour, welding gun 10 is taken an unnecessary way with vehicle frame 5 has the workpiece of Curvature varying to weld those weld seams, and control cabinet is installed on vehicle frame 5
1, control cabinet 1 is straight with data handling system 42, first straight line motor 2, the second motor 13, welding gun 10, second respectively by wire
Line motor 15, the first motor 18, expansion link 24, the 4th motor 27 are connected with the 3rd motor 35.
Application method of the present invention：Laser line generator 39 sends line laser and is irradiated to weld seam, and the laser of reflection is by ccd image
Sensor 40 is received, is imaged, and data handling system 42 passes information to control cabinet 1；Control cabinet 1 controls the first motor 18 to open
It is dynamic, first gear 20 is rotated, moves up and down rack 19, moves up and down welding gun 10；Control cabinet 1 controls second straight line motor
15 start, and move the second movable block 8, move left and right welding gun 10；Control cabinet 1 controls the second motor 13 to start, and makes welding gun 10
Rotated with cylinder 11；Control cabinet 1 controls cylinder 11 to do stretching motion, and cylinder 11 promotes welding gun 10 to swing, to adjust welding gun 10
Direction；Control cabinet 1 controls expansion link 24 to do stretching motion, moves up and down the first magnet 7, to adjust the first magnet 7 and workpiece
The distance between, when vehicle frame 5 is in vertical metal works plane work, the first magnet 7 is improved first close to workpiece surface
Magnetic attracting force between magnet 7 and workpiece, make vehicle frame 5 is firm to be worked in vertical metal works plane, avoid vehicle frame 5 from falling
Fall；Control cabinet 1 controls first straight line motor 2 to start, and moves left and right the first movable block 3, moves the second magnet 4 or so
It is dynamic；Control cabinet 1 controls the 4th motor 27 to start, and rotates the 6th gear 28, rotates the second chain 38, revolve the 5th gear 26
Turn, rotate support plate 25, rotate the first magnet 7 and the second magnet 4, to adjust the first magnet 7 and the second magnet 4 and metal work
The distance between part plane；Control cabinet 1 controls the 3rd motor 35 to start, and rotates the 4th gear 33, rotates the 3rd gear 32,
Wheel shaft 37 is rotated, rotates wheel 6, when the 3rd motor 35 of the speed ratio opposite side of the 3rd motor 35 of side rotates fast,
The second gear 36 of homonymy, which rotates, faster, makes the wheel 6 of homonymy rotate faster, vehicle frame 5 is reversed towards side, enables vehicle frame 5
Take an unnecessary way, welding gun 10 is taken an unnecessary way with vehicle frame 5 has the workpiece of Curvature varying to weld those weld seams.
Claims (4)
1. car, including control cabinet are climbed in a kind of Intelligent vision tracking welding（1）, first straight line motor（2）, the first movable block（3）、
Second magnet（4）, vehicle frame（5）, wheel（6）, the first magnet（7）, the second movable block（8）, flake bearing（9）, welding gun（10）, gas
Cylinder（11）, frame（12）, the second motor（13）, support（14）, second straight line motor（15）, baffle plate（16）, wheel carrier（17）, first
Motor（18）, rack（19）, first gear（20）, support（21）, sliding block（22）, slide rail（23）, expansion link（24）, support plate
（25）, the 5th gear（26）, the 4th motor（27）, the 6th gear（28）, the first chain（29）, rotating shaft（30）, bearing bracket stand（31）、
3rd gear（32）, the 4th gear（33）, support（34）, the 3rd motor（35）, second gear（36）, wheel shaft（37）, the second chain
Bar（38）, laser line generator（39）, ccd image sensor（40）, laser-vision sensing device（41）And data handling system
（42）, it is characterized in that：The vehicle frame（5）Right side is installed by wheel carrier（17）, wheel carrier（17）Upper installation first gear（20）, first gear
（20）Axle pass through shaft coupling and the first motor（18）It is connected, the first motor（18）Installed in wheel carrier（17）On, first gear
（20）Right side is installed by rack（19）, rack（19）Installed in support（21）Under, support（21）Installed in sliding block（22）On, sliding block
（22）Installed in slide rail（23）On, rack（19）Lower installation second straight line motor（15）, second straight line motor（15）Upper installation the
Two movable blocks（8）, the second movable block（8）The second motor of lower installation（13）, the second motor（13）Output shaft be arranged on flake axle
Hold（9）On, flake bearing（9）Installed in welding gun（10）On, the second motor（13）Output shaft on the right side of installation frame（12）, frame
（12）Lower installation cylinder（11）, cylinder（11）Piston rod be hingedly mounted on welding gun（10）On, rack（19）Right side is installed by baffle plate
（16）, baffle plate（16）Positioned at welding gun（10）Right side, rack（19）Right side is installed by support（14）, support（14）Lower installation laser video
Feel sensing device（41）, laser-vision sensing device（41）Left side is installed by laser line generator（39）, laser-vision sensing device
（41）Right side is installed by ccd image sensor（40）, laser-vision sensing device（41）Upper installation data processing system（42）, data
Processing system（42）By wire respectively with ccd image sensor（40）And laser line generator（39）It is connected, vehicle frame（5）Interior peace
Fill two rotating shafts（30）, rotating shaft（30）Vehicle frame is stretched out at both ends（5）Outside, rotating shaft（30）Both ends are respectively installed by support plate（25）, support plate（25）
Lower installation expansion link（24）, expansion link（24）The first magnet of lower installation（7）, the first magnet（7）Side is installed by first straight line motor
（2）, first straight line motor（2）The first movable block of upper installation（3）, the first movable block（3）The second magnet of upper installation（4）, rotating shaft
（30）On the 5th gear is each side installed（26）, the gear of screw rod the 5th of homonymy（26）The second chain of upper installation（38）, the
Two chains（38）Left end is arranged on the 6th gear（28）On, the 6th gear（28）Installed in the 4th motor（27）Output shaft on,
4th motor（27）Installed in frame（12）It is interior, frame（12）Two wheel shafts are inside each side installed（37）, wheel shaft（37）Peace
Mounted in bearing bracket stand（31）On, bearing bracket stand（31）Installed in vehicle frame（5）It is interior, wheel shaft（37）Upper installing wheel（6）, wheel shaft（37）Front end
Second gear is installed（36）, the first chain（29）Installed in two second gears（36）On, the first chain（29）Positioned at rotating shaft
（30）Lower section, the wheel shaft positioned at right side（37）The 3rd gear of upper installation（32）, the 3rd gear（32）Right side is installed by the 4th gear
（33）, the 4th gear（33）Installed in the 3rd motor（35）Output shaft on, the 3rd motor（35）Installed in support（34）On, machine
Seat（34）Installed in vehicle frame（5）It is interior, vehicle frame（5）Upper installation control cabinet（1）, control cabinet（1）By wire respectively with data processing
System（42）, first straight line motor（2）, the second motor（13）, welding gun（10）, second straight line motor（15）, the first motor（18）、
Expansion link（24）, the 4th motor（27）With the 3rd motor（35）It is connected.
2. car is climbed in a kind of Intelligent vision tracking welding according to claim 1, it is characterized in that：The cylinder（11）It is built-in
Magnetic valve, magnetic valve pass through wire and control cabinet（1）It is connected.
3. car is climbed in a kind of Intelligent vision tracking welding according to claim 1, it is characterized in that：The support plate（25）For rubber
Glue material is made.
4. car is climbed in a kind of Intelligent vision tracking welding according to claim 1, it is characterized in that：The laser line generator
（39）Send line laser and be irradiated to weld seam, the laser of reflection is by ccd image sensor（40）Receive and be imaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610405857.0A CN106002023B (en) | 2016-06-12 | 2016-06-12 | Car is climbed in a kind of Intelligent vision tracking welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610405857.0A CN106002023B (en) | 2016-06-12 | 2016-06-12 | Car is climbed in a kind of Intelligent vision tracking welding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002023A CN106002023A (en) | 2016-10-12 |
| CN106002023B true CN106002023B (en) | 2018-03-06 |
Family
ID=57091016
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610405857.0A Active CN106002023B (en) | 2016-06-12 | 2016-06-12 | Car is climbed in a kind of Intelligent vision tracking welding |
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| Country | Link |
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| CN (1) | CN106002023B (en) |
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