CN108339761A - A kind of sorting welder and its method based on thermal infrared imager detection - Google Patents

A kind of sorting welder and its method based on thermal infrared imager detection Download PDF

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Publication number
CN108339761A
CN108339761A CN201810066648.7A CN201810066648A CN108339761A CN 108339761 A CN108339761 A CN 108339761A CN 201810066648 A CN201810066648 A CN 201810066648A CN 108339761 A CN108339761 A CN 108339761A
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China
Prior art keywords
workpiece
welding
welder
feed
control
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CN201810066648.7A
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Chinese (zh)
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CN108339761B (en
Inventor
杨龙兴
杨成
郭大伟
张陈
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Jiangsu University of Technology
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Jiangsu University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125Weld quality monitoring
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • B23K9/173Arc welding or cutting making use of shielding gas and of a consumable electrode

Abstract

This application involves welding technology field more particularly to a kind of sorting welders based on thermal infrared imager detection.Including:Feed device is for clamping workpiece and by workpiece transport to each station;Welder is used to carry out soldering to the workpiece that feed device transport comes;Sorting equipment includes thermal infrared imager testing agency and device for discharging, and to welding, treated that workpiece carries out quality testing for thermal infrared imager testing agency, and device for discharging carries out discharging to workpiece after detection;Control device;Feed device is from initial position transmitting workpiece to welding post, welder carries out soldering to workpiece, after soldering, feed device transmitting workpiece is to sortation process, thermal infrared imager testing agency of institute carries out quality testing to workpiece, and device for discharging distinguishes discharging to finished product and poor products according to testing result.It solves welder in the prior art and needs multiple transport structure, complicated, bulky problem.

Description

A kind of sorting welder and its method based on thermal infrared imager detection
Technical field
This application involves welding technology field more particularly to it is a kind of based on thermal infrared imager detection sorting welder and Its method.
Background technology
In electric field, mash welder is the welding equipment that solder joint is formed using resistance heat melting solid metal, main former Reason is to use double-sided double-point over-current welding, and two electrodes are pressurizeed respectively on the workpiece welded at two when work, and two workpiece exist Certain contact resistance is formed under the pressure of two electrodes, in 2 contact resistance points when welding current flows through another electrode from an electrode Form the thermal welding of moment.For this manually operated welding manner, there are following technological deficiencies:1. bond pad locations deviation compared with Greatly, point quality does not ensure, and spot welding working efficiency is low, and cost of labor is higher;2. labor intensity is big, worker's craft point There are security risks and certain danger for weldering operation.The degree of automation is low, and finished product accuracy is low, and working efficiency is low, economic benefit Difference, so the completion of automation is put and welded tool and has very important significance.
There is full auto-bonding system in existing welder, application No. is the application of CN201611137971.6 public affairs A kind of Full-automatic welding silver point equipment has been opened, and has been specifically disclosed:Including rack and be arranged in rack delivery positioning mechanism, Conveying mechanism and welding discharge mechanism, delivery positioning mechanism include workpiece feed device, silver point feed device and make workpiece with silver The positioning component for the positioning that contacts with each other is put, silver point feed device includes silver point feeding guide and silver point detection components, silver point detection Component includes:There is the silver point of reverse side and is moved out silver point feeding guide for being clamped on silver point feeding guide in pusher clamp hand; First cam device carries out camera shooting information collection for the positive and negative information to the silver point on silver point feeding guide;Controller One, for controlling the work of pusher clamp hand according to the information collection of the first cam device;The conveying mechanism is used for will be mutual It contacts the workpiece of positioning and silver point is sent to welding discharge mechanism;The welding discharge mechanism includes welder body and finished product detection row Expect that component, the welder body carry out soldering to workpiece and silver point, the finished product detection discharge assembly includes:Second camera shooting Head device carries out camera shooting information collection for the finished product after butt welding machine this body running;Discharge arm, for welder body work to be clamped Finished product after work and the shooting area for being passed to second camera device;Whirlwind sub-material component, after welder body works Finished product classified emission;Controller two, for controlling whirlwind sub-material component work according to the information collection of second camera device Make.
As shown from the above technical solution, structure is complex, and needs a variety of transport structures and clamping in the welding process Structure come to the position of weldment shifted with to weldment carry out different phase processing, increase the complexity of structure in this way Degree, also increases the volume and cost of structure.
Invention content
Multiple transport structure, complicated, bulky problem, sheet are needed in order to solve welder in the prior art Application proposes a kind of sorting welder and its method based on thermal infrared imager detection, solves above-mentioned technical problem.This hair Bright technical solution is as follows:
A kind of sorting welder based on thermal infrared imager detection, including:
Feed device, the feed device is for clamping workpiece and by workpiece transport to each station;
Welder, the welder are used to carry out soldering to the workpiece that feed device transport comes;
Sorting equipment, the sorting equipment include thermal infrared imager testing agency and device for discharging, the thermal infrared imager Testing agency carries out quality testing to welding treated workpiece, and the device for discharging carries out discharging to workpiece after detection;
Control device, the control device are connect with feed device, welder, sorting equipment signal respectively;
For the feed device from initial position transmitting workpiece to welding post, the welder carries out weld to workpiece Reason, after soldering, the feed device transmitting workpiece to sortation process, the thermal infrared imager testing agency is to workpiece Quality testing is carried out, the device for discharging distinguishes discharging to finished product and poor products according to testing result.
Further, the feed device includes drive component, clamping assembly and arc stroke groove, the driving component packet Shaft is included, the clamping assembly includes flabellum plate and the clamping component in flabellum plate outer end is arranged, and the inner end of the flabellum plate connects Switch through axis, the direction of the outer end of the flabellum plate arcuately stroke groove is swung, and the outer end of the flabellum plate offers through-hole, described Clamping component is embedded in through-hole.
Further, the clamping part includes U-shaped card pawl, spring and stroke ring, and the stroke ring is arranged in the through-hole Interior, the stroke ring is disposed radially there are three radial hole, and three radial holes are uniformly distributed, and 1 U is provided in each radial hole Type claw and 1 spring, one end for clamping workpiece of the U-shaped card pawl are clamping part, and the clamping part is towards stroke ring The center of circle, one end of the other end connecting spring of the U-shaped card pawl, the other end of the spring is pierced by stroke ring and connects with flabellum plate It connects.
Further, the sensor of the position for induction fan impeller, the sensing are provided in the arc stroke groove Device is 4, and the initial end of arc stroke groove is provided with first sensor, and the arc stroke groove corresponds to welding post and is provided with the Two sensors, the arc stroke groove correspond to sortation process and are provided with 3rd sensor and the 4th sensor.
Further, the sortation process includes poor products unloading station and finished product unloading station, the arc stroke groove pair Poor products unloading station is answered to be provided with 3rd sensor, the arc stroke groove corresponds to finished product unloading station and is provided with the 4th sensing Device, the position that poor products unloading station is corresponded in the arc stroke groove offer poor products blowpit, right in the arc stroke groove The position of finished product unloading station is answered to offer finished product blowpit.
Further, 4 sensors are Hall sensor, and 4 sensors are connected with control device signal.
Further, which is characterized in that the welder includes five axis welding robots, wire-feed motor, welding gun, welding electricity Source and protection bottle, the welding gun are mounted on five axis welding robots, and the wire-feed motor is welding gun automatic feeding, the welding electricity Source powers for welding gun, and connection is communicated between the source of welding current and wire-feed motor, protective gas is housed in the protection bottle.
Further, the thermal infrared imager testing agency includes thermal infrared imager camera and camera fixed plate, the phase Machine fixed plate is fixed on the support columns by rotary cylinder, and the thermal infrared imager camera is fixed in camera fixed plate.
Further, the device for discharging includes finished product discharging cylinder and poor products discharging cylinder, and finished product discharging cylinder passes through Air cylinder fixed plate is fixed on the support columns, and the poor products discharging cylinder is fixed on by air cylinder fixed plate in camera fixed plate.
A kind of sorting welding method of the sorting welder based on thermal infrared imager detection, includes the following steps:
The welding parameter of welder is arranged in S1, startup power supply;
S2, reset:Feed device is set to reset to initial position, the position of first sensor induction fan impeller, sorting equipment Also it completes to reset, by clamping workpiece on the clamping component of feed device;
S3, welding:Control device controls feed device transmitting workpiece to welding post, and the drive component of feed device stops Work, simultaneously for feedback signal to control device, the control device receives feedback letter for the position of second sensor induction fan impeller After number, control welding gun welds workpiece along preset welding track, and after welding, welding gun is multiple under preset path Position;
S4, detection:Welder feedback signal is arrived to control device, the control device control feed device transmitting workpiece The drive component of poor products unloading station, feed device is stopped, the position of 3rd sensor induction fan impeller and feedback signal To control device, after the control device receives feedback signal, the temperature of thermal infrared imager phase machine testing weld weld seam is controlled Field distribution is spent, by comparing the thermo parameters method situation and standard value of workpiece, judges the quality of workpiece welding quality;
S5, discharging:When workpiece welding quality is unsatisfactory for requiring, control device controls rotary cylinder rotation, drives poor products Above discharging cylinder moving to workpiece, poor products discharging cylinder moves downward, poor products workpiece is pressed in poor products blowpit;Work as work When part welding quality is met the requirements, control device controls feed device transmitting workpiece to finished product unloading station, the 4th sensor sense It answers the position of flabellum plate and feedback signal is to control device, the control device control finished product discharging cylinder moves downward, will be at Product workpiece presses in finished product blowpit.
Based on the above-mentioned technical proposal, the technique effect achieved by the present invention is:
1. the sorting welder of the present invention realizes automatic integratedization of welding, detection and sort process, journey is automated Degree is high, and without human intervention, and accuracy rate is high, and work efficiency is high;
2. the sorting welder of the present invention uses arc stroke groove, and corresponding in the setting of the interval location of arc stroke groove Processing unit, rational distribution has been carried out to the layout of whole device, has efficiently controlled the volume of whole device;
3. the sorting welder of the present invention uses thermal infrared imager testing agency, accuracy of detection is high, can efficiently control The quality of weldment, and be further to be controlled according to the sorting for carry out weldment finished product and poor products to detect quality The accuracy of the sorting of weldment;
4. the sorting welder of the present invention carries out clamping using the structure of U-shaped card pawl and stroke ring to workpiece, transport, Workpiece can be clamped during welding and detection not fall;During discharging, workpiece can be under the effect of external force from U-shaped It falls off in claw, facilitates the automation processing classification to workpiece, it is very convenient;
It is given come sensed position and feedback information in different station setting sensor 5. the sorting welder of the present invention is used Control device, control device control corresponding processing mechanism and are handled, and this mode accuracy is high, convenient to each processed Journey is all accurately and efficiently controlled;
6. the automation of transport, welding, detection and sorting to workpiece, behaviour may be implemented in the sorting welding method of the present invention Make convenience and high-efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram of the sorting welder based on thermal infrared imager detection of the present invention;
Fig. 2 is the structural schematic diagram for sorting the feed device in welder;
Fig. 3 is the structural schematic diagram of the clamping assembly of feed device;
Fig. 4 is the structural schematic diagram of the clamping part of feed device;
Fig. 5 is the structural schematic diagram of the U-shaped card pawl in clamping part;
Fig. 6 is the structural schematic diagram of the arc stroke groove of feed device;
Fig. 7 is the structural schematic diagram for sorting the welder in welder;
Fig. 8 is the structural schematic diagram for sorting the sorting equipment in welder;
In figure, 1- feed devices;11- drive components;111- shafts;112- speed reducers;113- motors;12- clamping assemblies; 121- flabellum plates;122- clamping parts;1221-U type claws;1222- springs;1223- stroke rings;13- arc stroke grooves;131- One sensor;132- second sensors;133- 3rd sensors;The 4th sensors of 134-;135- poor products blowpits;136- finished products Blowpit;2- welders;Five axis welding robots of 21-;211-X axis;212-Y axis;213-Z axis;214-R1 axis;215-R2 Axis;22- welding guns;23- wire-feed motors;The 24- sources of welding current;3- sorting equipments;31- thermal infrared imager cameras;32- camera fixed plates; 33- rotary cylinders;34- finished product discharging cylinders;35- poor products discharging cylinders;The first fixed plates of 36-;37 second fixed plates;38- branch Support;4- workbench.
Specific implementation mode
Present disclosure is further described with reference to the accompanying drawings of the specification.
As shown in figures 1-8, a kind of sorting welder detected based on thermal infrared imager is present embodiments provided, including: Feed device 1, the feed device 1 is for clamping workpiece and by workpiece transport to each station;Welder 2, the welding dress It sets 2 and carries out soldering for transporting the workpiece to come to feed device 1;Sorting equipment 3, the sorting equipment 3 include infrared Thermal imaging system testing agency and device for discharging, the thermal infrared imager testing agency carry out quality inspection to welding treated workpiece It surveys, the device for discharging carries out discharging to workpiece after detection;Control device (not shown), the control device respectively with give Expect device 1, welder 2, the connection of 3 signal of sorting equipment;Workbench 4, the feed device 1, welder 2, sorting equipment 3 It is respectively positioned on workbench 4 with control device.
For the feed device 1 from initial position transmitting workpiece to welding post, the welder 2 welds workpiece Processing, after soldering, 1 transmitting workpiece of the feed device to sortation process 3, the thermal infrared imager testing agency pair Workpiece carries out quality testing, and the device for discharging distinguishes discharging to finished product and poor products according to testing result.
The feed device 1 includes drive component 11, clamping assembly 12 and arc stroke groove 13.The clamping assembly 12 One end connects drive component 11, and the other end of the clamping assembly 12 is swung in arc stroke groove.The driving component 11 is wrapped Motor 113, speed reducer 112 and shaft 111 are included, the motor 113 is fixed on the table by motor fixing plate, the motor 113 and speed reducer 112 connect, the speed reducer 112 connects shaft 111 by shaft coupling, is provided with sealing in the shaft 111 Bearing, the shaft 111 rotate under the driving effect of motor 113 and speed reducer 112.
The clamping assembly 12 includes flabellum plate 121 and clamping part 122, and the inner end of the flabellum plate 121 is annular shape, circle Cricoid inner end is set in shaft 111, and shaft 111 drives flabellum plate to swing.The outer end of the flabellum plate 121 is provided with clamping Part 122, specifically, the outer end of the flabellum plate 121 offer through-hole, and the clamping part 122 is located in the through-hole, preferably Ground, the position that the upper surface of the flabellum plate 121 corresponds to through-hole is provided with cover board, by clamping by the way of screw reverse locking Part 122 is locked between cover board and flabellum plate 121.The clamping part 122 includes U-shaped card pawl 1221, spring 1222 and stroke ring 1223, the stroke ring 1223 is locked between cover board and flabellum plate 121, and 3 are evenly distributed on stroke ring 1223 along diameter To the radial hole of distribution, the U-shaped card pawl 1221 moves in the radial hole.The U-shaped card pawl 1221 and spring 1222 are equal It it is 3, one end for clamping workpiece of the U-shaped card pawl 1221 is bare terminal end, and 1221 other end of the U-shaped card pawl connects Connect one end of spring 1222, the bare terminal ends of 3 U-shaped card pawls 1221 towards the center of circle of stroke ring 1223, the spring 1222 The other end stretches out radial hole and is connect with flabellum plate 121.When wanting clamping workpiece, workpiece is placed in 3 U-shaped card pawls 1221 Between, it, can be by Workpiece clamping under the action of spring 1222.
The outer end of the flabellum plate 121 is swung in arc stroke groove 13, and the clamping part 122 is located at arc stroke groove 13 Top, preferably, the clamping part 122 is located at the surface of arc stroke groove 13.The arc stroke groove 13 has certain Length, multiple stations are distributed in the arc stroke groove 13, since initial end, are followed successively by welding post and sorting work Position, it includes poor products unloading station and finished product unloading station successively that the sortation process, which has,.The welder 2 is close to welding post Setting, when workpiece is transported to welding post, welder 2 can be subjected to workpiece.The thermal infrared imager inspection Mechanism and poor products device for discharging to be surveyed close to poor products unloading station to be arranged, finished product device for discharging is arranged close to finished product unloading station, when When workpiece after welding reaches poor products unloading station, thermal infrared imager testing agency is detected the welding situation of workpiece, such as It is poor products, then poor products device for discharging carries out discharging, finished product in this way, then transporting apparatus transports workpiece to finished product unloading station, finished product Device for discharging carries out discharging.
Accordingly, the sensor of multiple positions for induction fan impeller 121 is provided in the arc stroke groove 13:Packet Include positioned at arc stroke groove 13 initial end first sensor 131, positioned at welding post second sensor 132, be located at it is bad The 3rd sensor 133 of product unloading station and the 4th sensor 134 positioned at finished product unloading station.Preferably, 4 sensors are equal For Hall sensor.
In order to facilitate discharging, poor products blowpit 135 and finished product blowpit 136 are offered in the arc stroke groove 13.Institute It states poor products blowpit 135 and is located at poor products unloading station, the finished product blowpit 136 is located at finished product unloading station, workpiece when sorting Poor products blowpit 135 and finished product blowpit 136 can be fallen directly into.
The welder 2 includes five axis welding robots 21, wire-feed motor 23, welding gun 22, the source of welding current 24 and protection bottle (not shown), the welding gun 22 are mounted on five axis welding robots 21, and the wire-feed motor 23 is 22 automatic feeding of welding gun, The source of welding current 24 is powered for welding gun 22, is communicated and is connected between the source of welding current 24 and wire-feed motor 23, in the protection bottle Equipped with protective gas, generally CO2 protects gas.The five axis welding robot 21 drives the welding gun 22 along preset welding rail Mark moves, and the five axis welding robot 21 includes X-axis 211, Y-axis 212, Z axis 213, R1 axis 214 and R2 axis 215, the X-axis 211 is parallel with workbench 4, and the Z axis 213 can be moved along X-axis 211, vertically vertical X axis 211 of the Z axis 213, described Y-axis 212 is located on Z axis 213, and both perpendicular to Z axis 213 and X-axis 211, and the R1 axis drives the welding gun 22 in vertical side It rotates up, the R2 axis drives the welding gun 22 to rotate in the horizontal direction.
The sorting equipment 3 includes the supporting rack 38 being arranged on workbench 4, thermal infrared imager testing agency and discharging dress It sets.The IR thermal imaging inspection mechanism includes thermal infrared imager camera 31 and camera fixed plate 32, the thermal infrared imager camera 31 are fixed in camera fixed plate 32, and the camera fixed plate 32 is fixed on by rotary cylinder 33 on supporting rack 38.It is described to unload Expect that device includes poor products device for discharging and finished product device for discharging, it is preferable that the poor products device for discharging is poor products discharging cylinder 35, The finished product device for discharging is finished product discharging cylinder 34, and the finished product discharging cylinder 34 is being supported by the setting of the first fixed plate 36 On frame 38, and finished product discharging cylinder 34 is located at the surface of finished product unloading station;The poor products discharging cylinder 35 is solid by second Fixed board 37 is arranged on supporting rack 38, it is preferable that with rotary cylinder 33 be the center of circle, the poor products discharging cylinder 35 with it is described infrared Central angle between thermal imaging system camera 31 is 90 degree, and when needing to be detected, thermal infrared imager camera 31 is located at poor products discharging Station is detected workpiece, poor products in this way, then rotary cylinder 33 drives camera fixed plate 32 to rotate 90 degree, poor products discharging at this time Cylinder 35 is located at poor products unloading station and carries out discharging to workpiece.When discharging, finished product discharging cylinder 34 or 35, poor products discharging cylinder In the surface of workpiece, finished product discharging cylinder 34 or poor products discharging cylinder 35 move downward, by workpiece be pressed into finished product blowpit or In poor products blowpit.
The control device includes host computer, PLC and slave computer.The slave computer is connected with wu-zhi-shan pig signal, institute It states slave computer to connect with PLC signals, the PLC is connected with host computer signal, 113,4 sensors of the PLC and motor, rotation Cylinder 33, finished product discharging cylinder 34 and poor products discharging cylinder 35 are electrically connected.The host computer is preferably computer, and the slave computer is excellent It is selected as control mainboard.
The present embodiment additionally provides a kind of sorting welding method of the sorting welder detected based on thermal infrared imager, tool Body includes the following steps:
The welding parameter of welder is arranged in S1, startup power supply;
S2, reset:Feed device is set to reset to initial position, the position of first sensor induction fan impeller, sorting equipment Also it completes to reset, by clamping workpiece on the clamping part of feed device;
S3, startup, welding:Press start button, control device controls feed device transmitting workpiece to welding post, and second Simultaneously feedback signal is to control device for the position of sensor sensing flabellum plate, after the control device receives feedback signal, control Wu-zhi-shan pig drives welding gun to be welded to workpiece along preset welding track, and after welding, welding gun is in preset path Lower reset;
S4, detection:Five axis welding robot feedback signals are to control device, the control device control feed device transport Workpiece is to poor products unloading station, and the drive component of feed device is stopped, and the position of 3rd sensor induction fan impeller is simultaneously anti- Feedback signal is to control device, after the control device receives feedback signal, control thermal infrared imager phase machine testing weld weldering The thermo parameters method of seam judges the quality of workpiece welding quality by comparing the thermo parameters method situation and standard value of workpiece;
S5, discharging:When workpiece welding quality is unsatisfactory for requiring, control device controls rotary cylinder rotation, drives poor products Above discharging cylinder moving to workpiece, discharging cylinder moves downward, poor products is pressed in poor products blowpit;When workpiece welds matter When amount is met the requirements, control device controls feed device transmitting workpiece to finished product unloading station, the 4th sensor sensing flabellum plate Position and feedback signal to control device, the control device control finished product discharging cylinder moves downward, and finished product is pressed to In finished product blowpit.
S6, it repeats the above steps.
Preferably, it is that welding parameter is preset in five axis welding robots in the step S1, welding parameter includes welding Speed, weld interval, path of welding etc..
Preferably, PLC controls the position of workpiece in above-mentioned steps, and PLC is accurately controlled by sending umber of pulse to motor 113 The umber of pulse of the movement position of workpiece processed, each stage is determined according to specific stroke.
Preferably, in step S4, for five axis welding robot feedback signals to slave computer, slave computer retransmits signal to PLC, The next umber of pulse of PLC transmissions is ended to motor, feed device drive workpiece motion s to poor products unloading station, motor pulses number, this When motor be stopped, 3rd sensor feedback signal sends a signal to red to PLC, PLC up-delivering signals to host computer, host computer Outer thermal imaging system camera, thermal infrared imager camera are detected workpiece.
Preferably, in step S5, when workpiece welding quality is unsatisfactory for requiring, PLC, PLC controls are signaled under host computer Rotary cylinder processed rotates 90 degree, that is, then poor products discharging cylinder moving is programmed to the top of poor products workpiece by the stepping of PLC Program, poor products discharging cylinder move downward full stroke, poor products workpiece are depressed into poor products dumping pit, and then discharging cylinder is multiple Position;If the weldment of thermal infrared imager phase machine testing is in specification error, i.e., when workpiece welding quality is met the requirements, PLC continues Quantitative umber of pulse is sent to motor, when finished work-piece reaches finished product unloading station, motor stalls, then finished product discharging Cylinder moves downward, and finished product weldment is pressed in finished product dumping pit, and then finished product discharging cylinder starts to reset, and is with that The cycle of PLC program allows flabellum plate to repeat above-mentioned action.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations Mode within the knowledge of a person skilled in the art can also be in the premise for not departing from spirit of the invention Under make a variety of changes.

Claims (10)

1. a kind of sorting welder based on thermal infrared imager detection, which is characterized in that including:
Feed device (1), the feed device (1) is for clamping workpiece and by workpiece transport to each station;
Welder (2), the welder (2) are used to carry out soldering to the workpiece that feed device (1) transport comes;
Sorting equipment (3), the sorting equipment (3) include thermal infrared imager testing agency and device for discharging, the infrared thermal imagery Instrument testing agency carries out quality testing to welding treated workpiece, and the device for discharging carries out discharging to workpiece after detection;
Control device, the control device are connect with feed device (1), welder (2), sorting equipment (3) signal respectively;
For the feed device (1) from initial position transmitting workpiece to welding post, the welder (2) welds workpiece Processing, after soldering, feed device (1) transmitting workpiece to sortation process, the thermal infrared imager testing agency Quality testing is carried out to workpiece, the device for discharging distinguishes discharging to finished product and poor products according to testing result.
2. a kind of sorting welder based on thermal infrared imager detection as described in claim 1, which is characterized in that described to send Material device (1) includes drive component (11), clamping assembly (12) and arc stroke groove (13), and the driving component (11) includes turning Axis (111), the clamping assembly (12) include the clamping part (122) of flabellum plate (121) and setting in flabellum plate (121) outer end, The inner end connection shaft (111) of the flabellum plate (121), the side of the outer end of the flabellum plate (121) arcuately stroke groove (13) To swing, the outer end of the flabellum plate (121) offers through-hole, and the clamping part (122) is located in through-hole.
3. a kind of sorting welder based on thermal infrared imager detection as claimed in claim 2, which is characterized in that the dress Folder (122) includes U-shaped card pawl (1221), spring (1222) and stroke ring (1223), and the stroke ring (1223) is arranged in institute It states in through-hole, the stroke ring (1223) is disposed radially there are three radial hole, and three radial holes are uniformly distributed, each radial hole Inside it is provided with 1 U-shaped card pawl (1221) and 1 spring (1222), one end for clamping workpiece of the U-shaped card pawl (1221) For clamping part, the clamping part is towards the center of circle of stroke ring (1223), the other end connecting spring of the U-shaped card pawl (1221) (1222) one end, the other end of the spring (1222) are pierced by stroke ring (1223) and are connect with flabellum plate (121).
4. a kind of sorting welder based on thermal infrared imager detection as claimed in claim 3, which is characterized in that the arc The sensor of the position for induction fan impeller (121) is provided in shape stroke groove (13), the sensor is 4, arc row The initial end of journey slot (13) is provided with first sensor (131), and the corresponding welding post of the arc stroke groove (13) is provided with the Two sensors (132), the corresponding sortation process of the arc stroke groove (13) are provided with 3rd sensor (133) and the 4th sensor (134)。
5. a kind of sorting welder based on thermal infrared imager detection as claimed in claim 4, which is characterized in that described point It includes poor products unloading station and finished product unloading station to pick station, and the corresponding poor products unloading station of the arc stroke groove (13) is provided with 3rd sensor (133), the corresponding finished product unloading station of the arc stroke groove (13) is provided with the 4th sensor (134), described The position that poor products unloading station is corresponded in arc stroke groove (13) offers poor products blowpit (135), the arc stroke groove (13) position that finished product unloading station is corresponded on offers finished product blowpit (136).
6. a kind of sorting welder based on thermal infrared imager detection as claimed in claim 5, which is characterized in that 4 institutes It is Hall sensor to state sensor, and 4 sensors are connected with control device signal.
7. a kind of sorting welder based on thermal infrared imager detection as described in claim 1 or 6, which is characterized in that institute Welder (2) is stated to include five axis welding robots (21), wire-feed motor (23), welding gun (22), the source of welding current (24) and protect bottle, The welding gun (22) is mounted on five axis welding robots (21), and the wire-feed motor (23) is welding gun (22) automatic feeding, described The source of welding current (24) is powered for welding gun (22), and signal connects between the source of welding current (24) and wire-feed motor (23), the protection Protective gas is housed in bottle.
8. a kind of sorting welder based on thermal infrared imager detection as claimed in claim 6, which is characterized in that described red Outer thermal imaging system testing agency includes thermal infrared imager camera (31) and camera fixed plate (32), and the camera fixed plate (32) passes through Rotary cylinder (33) is fixed on supporting rack (38), and the thermal infrared imager camera (31) is fixed in camera fixed plate (32).
9. a kind of sorting welder based on thermal infrared imager detection as claimed in claim 8, which is characterized in that described to unload Expect that device includes finished product discharging cylinder (34) and poor products discharging cylinder (35), finished product discharging cylinder (34) passes through the first fixed plate (36) it is fixed on supporting rack, the poor products discharging cylinder (35) is fixed on camera fixed plate (32) by the second fixed plate (37) On.
10. a kind of sorting welding method of sorting welder based on thermal infrared imager detection as claimed in claim 9, It is characterized in that, includes the following steps:
S1, startup power supply, the welding parameter of setting welder (2);
S2, reset:Feed device (1) is set to reset to initial position, the position of first sensor (131) induction fan impeller (121), Sorting equipment (3) is also completed to reset, by clamping workpiece on the clamping part (122) of feed device (1);
S3, startup, welding:Press start button, control device controls feed device (1) transmitting workpiece to welding post, and second Simultaneously for feedback signal to control device, the control device receives feedback letter for the position of sensor (132) induction fan impeller (121) After number, control welding gun (22) welds workpiece along preset welding track, and after welding, welding gun (22) is on default road It is resetted under diameter;
S4, detection:Five axis welding robot (21) feedback signals are to control device, the control device control feed device (1) Transmitting workpiece is to poor products unloading station, and simultaneously feedback signal is filled to control for the position of 3rd sensor (133) induction fan impeller (121) It sets, after the control device receives feedback signal, control thermal infrared imager camera (31) detects the temperature field of weld weld seam Distribution judges the quality of workpiece welding quality by comparing the thermo parameters method situation and standard value of workpiece;
S5, discharging:When workpiece welding quality is unsatisfactory for requiring, control device controls rotary cylinder (33) and rotates, and drives poor products Discharging cylinder (35) moves to above workpiece, and poor products discharging cylinder (35) moves downward, and poor products workpiece is pressed to poor products discharging In slot (135);When workpiece welding quality is met the requirements, control device controls feed device (1) transmitting workpiece to finished product discharging Station, the position of the 4th sensor (134) induction fan impeller (121) and feedback signal are to control device, the control device control Manufactured goods discharging cylinder (34) moves downward, and finished work-piece is pressed in finished product blowpit.
CN201810066648.7A 2018-01-24 2018-01-24 Sorting and welding device and method based on thermal infrared imager detection Active CN108339761B (en)

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