CN108971823A - A kind of welder and method based on welding workpiece three-dimensionalreconstruction - Google Patents
A kind of welder and method based on welding workpiece three-dimensionalreconstruction Download PDFInfo
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- CN108971823A CN108971823A CN201811176361.6A CN201811176361A CN108971823A CN 108971823 A CN108971823 A CN 108971823A CN 201811176361 A CN201811176361 A CN 201811176361A CN 108971823 A CN108971823 A CN 108971823A
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- push rod
- welder
- manipulator
- welding
- camera lens
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- 238000003466 welding Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000003825 pressing Methods 0.000 claims abstract description 37
- 238000013519 translation Methods 0.000 claims abstract description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000007423 decrease Effects 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 230000014616 translation Effects 0.000 description 17
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
Classifications
-
- 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
- B23K37/0247—Driving 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
- 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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
A kind of welder based on welding workpiece three-dimensionalreconstruction, scanning means, translating device, pressing device, welder are all set in rack；Welder includes manipulator translation push rod, manipulator and welding gun, manipulator translates the pedestal fixing assembling of push rod on the rack, the driving end fixing assembling at the top of manipulator and manipulator translation push rod, the bottom fixing assembling of manipulator has welding gun, scanning means includes two sweep mechanisms, two sweep mechanisms are symmetricly set on welding mechanism two sides, sweep mechanism includes camera lens push rod, support frame, lens mounting frame and camera lens, the pedestal and rack fixing assembling of camera lens push rod, the driving end of camera lens push rod and support frame fixing assembling, support frame and lens mounting frame fixing assembling, lens mounting frame is equipped with camera lens, camera lens is connect by data line with computer.Phenomena such as present invention compensates for artificial directly welding bring deficiency, avoids the occurrence of deformation and fracture, reduces the error of workpiece size and shape.
Description
Technical field
The invention belongs to automate, intelligentized welding technology field, and in particular to one kind be based on welding workpiece three-dimensionalreconstruction
Welder and method.
Background technique
As influence power of the manufacturing industry to China is increasing, the requirement to welding technique is also higher and higher.At this stage
Most of welding technique is by manually directly welding to workpiece, and workpiece simple for structure can reach welding
Technique requirement, but for the workpiece with complex characteristic, due to the limitation of artificial technology's level, cannot correctly judge best
Welding scheme, thus, in the process of production and processing, there is phenomena such as spot corrosion, even deform, be broken in workpiece surface, and is discontented with
The requirement such as sufficient workpiece strength, rigidity, size and shape, is unable to reach the overall processing effect of workpiece.In order to meet welding technique
Demand, invented a kind of automatic soldering device, can to workpiece carry out comprehensive scanning, obtain characteristics of image, the ruler of workpiece
The information such as very little, and by this information feedback to computer processing system, system analyzes it, and determines best welding scheme.
To realize the automatic welding to workpiece, overcome the drawbacks of manual operation is brought, reach high production efficiency, product
The high requirement of quality.
Summary of the invention
Of the existing technology in order to solve the problems, such as, the present invention provides a kind of welding dress based on welding workpiece three-dimensionalreconstruction
It sets and method, technical solution is as follows:
A kind of welder based on welding workpiece three-dimensionalreconstruction, including rack, scanning means, translating device, compression dress
It sets, welder, the scanning means, translating device, pressing device, welder are all set in rack；
The welder includes manipulator translation push rod, manipulator and welding gun, the pedestal of the manipulator translation push rod
On the rack, the driving end fixing assembling at the top of manipulator and manipulator translation push rod is translated fixing assembling by manipulator
The flexible driving manipulator of push rod moves, and the bottom fixing assembling of manipulator has welding gun, adjusts welding gun by the pose of manipulator
Welding position；
The scanning means includes two sweep mechanisms, and two sweep mechanisms are symmetricly set on the welding mechanism two sides,
Sweep mechanism includes camera lens push rod, support frame, lens mounting frame and camera lens, the pedestal and rack fixing assembling of camera lens push rod, mirror
The driving end of head push rod and support frame fixing assembling, support frame and lens mounting frame fixing assembling, the bottom circle of lens mounting frame
All arrays are equipped with several camera lenses, several camera lenses pass through data line respectively and connect with computer.
The translating device includes workbench and two translation mechanisms, the workbench and rack fixing assembling, and two
A translation mechanism is symmetricly set on the welding mechanism two sides, and translation mechanism is pushed away including the first push plate, the first push plate push rod, second
The pedestal of plate, the second push plate push rod, the first push plate push rod and the second push plate push rod is securely fitted in the two sides of workbench respectively,
First push plate push rod and the second push plate push rod are vertically arranged with manipulator translation push rod, the driving end of the first push plate push rod and the
One push plate fixing assembling, the driving end of the second push plate push rod and the second push plate fixing assembling pass through the flexible of the first push plate push rod
The first push plate campaign is driven, flexible driving the second push plate campaign of the second push plate push rod is passed through.
The pressing device includes two hold-down mechanisms, and two hold-down mechanisms are symmetricly set on welder two sides, is compressed
Mechanism includes pressing plate push rod and pressing plate, the pedestal and rack fixing assembling of the pressing plate push rod, the driving end of the pressing plate push rod
With pressing plate fixing assembling, gone up and down by the flexible driving pressing plate of pressing plate push rod.
Two sweep mechanisms are respectively set there are four camera lens, and four camera lenses, 90 ° of circumference array distributions are assemblied in camera lens
Mounting rack bottom.
A kind of welding method based on welding workpiece three-dimensionalreconstruction, using above-mentioned a kind of based on welding workpiece three-dimensionalreconstruction
Welder, comprising the following steps:
Two welded workpieces are individually positioned on the workbench below the sweep mechanism of two sides, the mirror of two sides by step 1
Head push rod is by flexible driving camera lens lifting, and so as to adjust camera lens height, two sides camera lens respectively carries out two welded workpieces
3-D scanning, and scan data is transmitted to computer；
Step 2, welder two sides translation mechanism two welded workpieces are transferred to below welder respectively, weldering
The pressing plate push rod of connection device two sides respectively drives pressing plate decline, compresses two welded workpieces；
Scan data processing is control signal by step 3, computer, sends control signals to welder, driving weldering
Connection device is welded.
Compared with prior art, the beneficial effects of the present invention are:
Scanning means of the invention can be realized the 3-D scanning to workpiece, and the data such as the shape of workpiece, size are transmitted
To computer, scan data processing is sent control signals to welder for control signal by computer, drives welder
Phenomena such as being welded, compensating for artificial directly welding bring deficiency, avoid the occurrence of deformation and fracture, reduces workpiece size
With the error of shape, and then the precision and aesthetic measure of welding workpiece are improved, workpiece is made to meet technical requirements, reduces operator
The quantity of member and reviewer, reduce processing cost.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
The position Fig. 2 overlooking structure diagram of the invention.
Wherein: rack 1；Manipulator translates push rod 2；Manipulator 3；Welding gun 4；Camera lens push rod 5；Support frame 6；Lens mounting frame
7；Camera lens 8；Workbench 9；First push plate 10；First push plate push rod 11；Second push plate 12；Second push plate push rod 13；Pressing plate pushes away
Bar 14；Pressing plate 15.
Specific embodiment
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
Of the existing technology in order to solve the problems, such as, as depicted in figs. 1 and 2, the present invention provides one kind to be based on Welder
The welder of part three-dimensionalreconstruction, including rack 1, scanning means, translating device, pressing device, welder, scanning means,
Translating device, pressing device, welder are all set in rack 1.
Welder includes manipulator translation push rod 2, manipulator 3 and welding gun 4, and the pedestal of manipulator translation push rod 2 is fixed
It is assemblied in rack 1, the driving end fixing assembling at the top of manipulator 3 and manipulator translation push rod 2 is pushed away by manipulator translation
The flexible driving manipulator 3 of bar 2 moves, and the bottom fixing assembling of manipulator 3 has welding gun 4, adjusts weldering by the pose of manipulator 3
The welding position of rifle 4.
Scanning means includes two sweep mechanisms, and two sweep mechanisms are symmetricly set on welding mechanism two sides, sweep mechanism
Including camera lens push rod 5, support frame 6, lens mounting frame 7 and camera lens 8, the pedestal and 1 fixing assembling of rack of camera lens push rod 5, camera lens
The driving end of push rod 5 and 6 fixing assembling of support frame, support frame 6 and 7 fixing assembling of lens mounting frame, the bottom of lens mounting frame 7
Circumference array is equipped with several camera lenses 8, several camera lenses 8 are connect by data line with computer (figure omits) respectively.
Translating device includes workbench 9 and two translation mechanisms, workbench 9 and 1 fixing assembling of rack, two translations
Mechanism is symmetricly set on welding mechanism two sides, translation mechanism include the first push plate 10, the first push plate push rod 11, the second push plate 12,
The pedestal of second push plate push rod 13, the first push plate push rod 11 and the second push plate push rod 13 is securely fitted in workbench 9 respectively
Two sides, the first push plate push rod 11 and the second push plate push rod 13 are vertically arranged with manipulator translation push rod 2, the first push plate push rod 11
Driving end and 10 fixing assembling of the first push plate, the driving end of the second push plate push rod 13 and 12 fixing assembling of the second push plate, pass through
The first push plate of flexible driving 10 of first push plate push rod 11 moves, and passes through the second push plate of flexible driving 12 of the second push plate push rod 13
Movement, the first push plate 10 and the second push plate 12 be arranged between the first push plate push rod 11 and the second push plate push rod 13, by the
Welded workpiece is transported to below welder by the movement of one push plate 10 and the second push plate 12.
Pressing device includes two hold-down mechanisms, and two hold-down mechanisms are symmetricly set on welder two sides, hold-down mechanism
Including pressing plate push rod 14 and pressing plate 15, the pedestal and 1 fixing assembling of rack of pressing plate push rod 14, driving end and the pressure of pressing plate push rod 14
15 fixing assembling of plate is gone up and down by the flexible driving pressing plate 15 of pressing plate push rod 14.
Two sweep mechanisms are respectively set there are four camera lens 8, and four camera lenses, 8 90 ° of circumference array distributions are assemblied in camera lens peace
Shelve 7 bottoms, it can be achieved that welded workpiece comprehensive scanning.
Manipulator translates push rod 2, camera lens push rod 5, the first push plate push rod 11, the second push plate push rod 13 and pressing plate push rod 14 can
To use electric pushrod, Electrohydraulic push rod, cylinder or hydraulic cylinder, in the present embodiment, it is preferred to use electric pushrod.
A kind of welding method based on welding workpiece three-dimensionalreconstruction, comprising the following steps:
Two welded workpieces are individually positioned on the workbench 9 below the sweep mechanism of two sides by step 1, two sides
Camera lens push rod 5 is gone up and down by flexible driving camera lens 8, and so as to adjust 8 height of camera lens, two sides camera lens 8 is respectively to two works to be welded
Part carries out 3-D scanning, and scan data is transmitted to computer.
Step 2, welder two sides translation mechanism two welded workpieces are transferred to below welder respectively, weldering
The pressing plate push rod 14 of connection device two sides respectively drives the decline of pressing plate 15, compresses two welded workpieces.
Scan data is directed into computer welding simulation software by step 3, is carried out welding simulation, is selected welding parameter,
And the execution program of path of welding is exported by welding simulation software, program will be executed and be input in the controller of manipulator 3, together
When welding parameter is input in the external welding machine of welding gun 4, by controller driving manipulator 3, to be welded.
Welding simulation software is specially Simufact, the use of the method that it carries out welding simulation is the prior art, herein just
No longer it is described in detail.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of welder based on welding workpiece three-dimensionalreconstruction, which is characterized in that including rack, scanning means, translation dress
It sets, pressing device, welder, the scanning means, translating device, pressing device, welder are all set in rack；
The welder includes manipulator translation push rod, manipulator and welding gun, and the pedestal of the manipulator translation push rod is fixed
On the rack, the driving end fixing assembling at the top of manipulator and manipulator translation push rod translates push rod by manipulator for assembly
The movement of flexible driving manipulator, the bottom fixing assembling of manipulator has welding gun, and the pose for passing through manipulator adjusts the weldering of welding gun
Connect position；
The scanning means includes two sweep mechanisms, and two sweep mechanisms are symmetricly set on the welding mechanism two sides, is scanned
Mechanism includes camera lens push rod, support frame, lens mounting frame and camera lens, and the pedestal and rack fixing assembling of camera lens push rod, camera lens push away
The driving end of bar and support frame fixing assembling, support frame and lens mounting frame fixing assembling, the lower circumference battle array of lens mounting frame
It equips equipped with several camera lenses, several camera lenses pass through data line respectively and connect with computer.
2. a kind of welder based on welding workpiece three-dimensionalreconstruction according to claim 1, which is characterized in that described flat
Moving device includes workbench and two translation mechanisms, and the workbench and rack fixing assembling, two translation mechanisms are symmetrical
Setting is pushed away in the welding mechanism two sides, translation mechanism including the first push plate, the first push plate push rod, the second push plate, the second push plate
The pedestal of bar, the first push plate push rod and the second push plate push rod is securely fitted in the two sides of workbench, the first push plate push rod respectively
It is vertically arranged with manipulator translation push rod with the second push plate push rod, the driving end of the first push plate push rod and the fixed dress of the first push plate
Match, the driving end of the second push plate push rod and the second push plate fixing assembling pass through the first push plate of flexible driving of the first push plate push rod
Movement, passes through flexible driving the second push plate campaign of the second push plate push rod.
3. a kind of welder based on welding workpiece three-dimensionalreconstruction according to claim 2, which is characterized in that the pressure
Tight device includes two hold-down mechanisms, and two hold-down mechanisms are symmetricly set on welder two sides, and hold-down mechanism includes that pressing plate pushes away
Bar and pressing plate, the pedestal and rack fixing assembling of the pressing plate push rod, the driving end of the pressing plate push rod and pressing plate fixing assembling,
It is gone up and down by the flexible driving pressing plate of pressing plate push rod.
4. a kind of welder based on welding workpiece three-dimensionalreconstruction according to claim 3, which is characterized in that two institutes
It states sweep mechanism to be respectively set there are four camera lens, four camera lenses, 90 ° of circumference array distributions are assemblied in lens mounting frame bottom.
5. a kind of welding method based on welding workpiece three-dimensionalreconstruction, using as described in claim 1 a kind of based on Welder
The welder of part three-dimensionalreconstruction, which comprises the following steps:
Two welded workpieces are individually positioned on the workbench below the sweep mechanism of two sides by step 1, and the camera lens of two sides pushes away
Bar is by flexible driving camera lens lifting, and so as to adjust camera lens height, two sides camera lens respectively carries out two welded workpieces three-dimensional
Scanning, and scan data is transmitted to computer；
Step 2, welder two sides translation mechanism two welded workpieces are transferred to below welder respectively, welding dress
The pressing plate push rod for setting two sides respectively drives pressing plate decline, compresses two welded workpieces；
Scan data processing is control signal by step 3, computer, sends control signals to welder, driving welding dress
It sets and is welded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811176361.6A CN108971823A (en) | 2018-10-10 | 2018-10-10 | A kind of welder and method based on welding workpiece three-dimensionalreconstruction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811176361.6A CN108971823A (en) | 2018-10-10 | 2018-10-10 | A kind of welder and method based on welding workpiece three-dimensionalreconstruction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108971823A true CN108971823A (en) | 2018-12-11 |
Family
ID=64543411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811176361.6A Pending CN108971823A (en) | 2018-10-10 | 2018-10-10 | A kind of welder and method based on welding workpiece three-dimensionalreconstruction |
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| CN104801897A (en) * | 2015-03-30 | 2015-07-29 | 天津智通机器人有限公司 | Inner container reinforcement ring welding workstation |
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Application publication date: 20181211 |
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