CN109834373A - A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking - Google Patents
A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking Download PDFInfo
- Publication number
- CN109834373A CN109834373A CN201711212263.9A CN201711212263A CN109834373A CN 109834373 A CN109834373 A CN 109834373A CN 201711212263 A CN201711212263 A CN 201711212263A CN 109834373 A CN109834373 A CN 109834373A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- laser
- automation
- welding
- submerged arc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005476 soldering Methods 0.000 title claims abstract description 31
- 238000003466 welding Methods 0.000 claims abstract description 62
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 230000004907 flux Effects 0.000 claims description 16
- 229910000679 solder Inorganic materials 0.000 claims description 16
- 239000002131 composite material Substances 0.000 claims description 9
- 238000007405 data analysis Methods 0.000 claims description 8
- 239000011324 bead Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000003860 storage Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000012800 visualization Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000002905 metal composite material Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052752 metalloid Inorganic materials 0.000 description 1
- 150000002738 metalloids Chemical class 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Landscapes
- Arc Welding In General (AREA)
Abstract
The invention discloses the automation submerged arc soldering equipments that a kind of view-based access control model and laser track, belong to metal machinery manufacturing technology field, including controller, lift servo motor, feed alternating current generator, wire feed rolls, laser tracker, vision CCD, ignition tip and left-right position control servo motor, before laser tracker is located at ignition tip, before vision CCD is located at laser tracker, lift servo motor controls the feeding of welding gun Z axis according to welding seam position information, left-right position controls servo motor and controls the feeding of welding gun X-axis according to welding seam position information, difference in height is made up by laser measurement, with cooperation control welding.The present invention is integrated with automatic detection, identification, tracking, control and information transmission and is integrated, CCD is compared by image and storage parameter standard, laser tracker carries out detection and tracking, it automatically controls trolley and reaches corresponding position, improve welding quality and efficiency, labor intensity is reduced, realizes the visualization of welding.
Description
Technical field
The present invention relates to the automation submerged arc soldering equipments that a kind of view-based access control model and laser track, more particularly to a kind of application
In the automation submerged arc soldering equipment of vision and laser tracking in the production of vacuum pack rolling composite plate blanks, belong to metal machinery manufacture skill
Art field.
Background technique
Currently, metal composite slab submerged-arc welding station is to manually control welding tractor by operator to carry out submerged-arc welding work
Industry not only needs operator station to control the movement start and stop of welding tractor on elevator landing, and complete welding bead and
The end of welding tractor is manually adjusted after one layer, is highly unable to control, but also operator is needed to adjust manually
The position of the road Zheng Xia layer and the position of welding gun.
On the one hand, this mode the degree of automation is lower, and the technical experience and qualification dependence to personnel are excessive, causes
Welding precision not can guarantee；On the other hand, the link for needing personnel to operate is more, and larger workload, production efficiency is also difficult to protect
Card.
In view of the above drawbacks, devise it is a kind of for composite metal plate submerged-arc welding production vision and laser tracking it is automatic
Change submerged arc soldering equipment, combine vision, the key technology that laser tracks, SERVO CONTROL becomes one, improve welding quality,
Welding efficiency and reduction labor intensity, realize the visualization of welding.
Summary of the invention
The main object of the present invention is to provide for the automation submerged arc soldering equipment of a kind of view-based access control model and laser tracking, from
Vision and laser tracking and positioning realize the submerged arc soldering equipment of automation control, improve the stabilization of production efficiency and welding quality
Property.
The purpose of the present invention can reach by using following technical solution:
A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking, including controller, lift servo motor, feeding
Alternating current generator, wire feed rolls, laser tracker, vision CCD, ignition tip and left-right position control servo motor, the controller point
It is not connect with the lift servo motor and the feeding alternating current generator, the feeding alternating current generator is arranged in the wire feed rolls
On；The laser tracker is located at the front of the ignition tip, is connected with the mounting blocks in front of the wire feed rolls；The vision
CCD is located at the front of the laser tracker；The weld seam that the lift servo motor is fed back according to the laser tracker
Location information controls the feeding of welding gun Z axis by controller；The left-right position control servo motor is according to the laser tracker
The welding seam position information fed back controls the feeding of welding gun X-axis by controller；The laser tracker carry out weld seam detection, with
Track and identification make up difference in height by laser measurement, control size of current；The laser tracker, lift servo electricity
Machine and left-right position control servo motor cooperate control to weld jointly；The laser tracker is located at the vision CCD's
Detection position and image data analysis integration are realized in dead astern.
Preferable scheme is that the lift servo motor and left-right position control servo motor are separately positioned on crossbeam
On, crossbeam is equipped with wire reel.
In any of the above-described scheme preferably, the left-right position control servo motor is existed by hanging ring and bracket setting
On the crossbeam, the rear of the wire reel is arranged in the hanging ring and bracket.
In any of the above-described scheme preferably, the left-right position control servo motor is arranged in moving trolley, institute
It states left-right position control servo motor and is equipped with left and right control mould group.
In any of the above-described scheme preferably, the controller is equipped with touch screen, and the controller passes through control box
Lock handle is arranged on the crossbeam.
In any of the above-described scheme preferably, silk guide frame is additionally provided on the crossbeam, the silk guide frame is arranged described
Between hanging ring and bracket and the lift servo motor.
In any of the above-described scheme preferably, the lift servo motor is equipped with solder flux hopper, the solder flux hopper
It connect, and is arranged on the crossbeam with solder flux hose.
In any of the above-described scheme preferably, the lower section of the solder flux hopper is equipped with control mould group up and down, it is described up and down
Mould group is controlled to be arranged on the crossbeam.
In any of the above-described scheme preferably, the wire feed rolls is arranged on the crossbeam, the lower section of the wire feed rolls
It is provided with conductive Rod clamp, the lower section of the conductive Rod clamp is arranged in the ignition tip, and the ignition tip is to metalloid
The weld of composite plate.
In any of the above-described scheme preferably, the laser tracker is electrically connected with the controller, the laser with
Track device detects the weld bead height Z axis and position Y-axis of composite metal plate, and data analysis feeds back to the controller, the controller
Output order carries out parameter supply, the vision CCD to left-right position control servo motor and the lift servo motor
Weldquality before welding is compared with the photographic intelligence that system stores.
Advantageous effects of the invention: the automation submerged-arc welding of view-based access control model and laser tracking according to the invention is set
It is standby, the automation submerged arc soldering equipment of view-based access control model and laser provided by the invention tracking, be integrated with automatic detection, automatic identification,
It automatically tracks, automatically control, the automation equipment that automatic information transmission is integrated, passing through CCD, laser tracker and servo motor
Control, three are fitted close, and CCD is compared by image and storage parameter standard, and laser tracker carries out detection and tracking,
It makes up large-scale workpiece and puts levelness defect, weld seam exact position can not be fixed, the level identification problem of welding, logical by signal
It interrogates to controller, servo motor is instructed by controller, automatically controls the corresponding position that trolley reaches accurate X, Y, Z axis, complete
At welding, perfect cooperation improves welding quality, welding efficiency and reduction labor intensity, realizes the visualization of welding.
Detailed description of the invention
Fig. 1 is a preferred embodiment of the automation submerged arc soldering equipment that view-based access control model according to the invention and laser track
Overall structure diagram.
In figure: 1- wire reel, 2- controller, 3- touch screen, 4- control box lock handle, 5- hanging ring and bracket, 6- crossbeam,
7- silk guide frame, 8- solder flux hopper, 9- lift servo motor, 10- or more control mould group, 11- feeding alternating current generator, 12- wire feed rolls,
13- laser tracker, 14- vision CCD, 15- conduction Rod clamp, 16- solder flux hose, 17- ignition tip, 18- moving trolley,
19- left-right position controls servo motor, and 20- or so controls mould group, 21- composite metal plate.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As shown in Figure 1, a kind of view-based access control model provided in this embodiment and the automation submerged arc soldering equipment of laser tracking, including
Controller 2, lift servo motor 9, feeding alternating current generator 11, wire feed rolls 12, laser tracker 13, vision CCD14, ignition tip 17
With left-right position control servo motor 19, the controller 2 respectively with the lift servo motor 9 and the feeding alternating current generator
11 connections, the feeding alternating current generator 11 are arranged on the wire feed rolls 12；The laser tracker 13 is located at the ignition tip
17 front is connected with the mounting blocks in 12 front of wire feed rolls；The vision CCD14 is located at the laser tracker 13
Front；The welding seam position information that the lift servo motor 9 is fed back according to the laser tracker 13 is controlled by controller 2
Welding gun Z axis feeding processed；The position while welding that the left-right position control servo motor 19 is fed back according to the laser tracker 13
Information controls the feeding of welding gun X-axis by controller 2；The laser tracker 13 carries out detection, tracking and the identification of weld seam, passes through
Laser measurement makes up difference in height, controls size of current；The laser tracker 13, the lift servo motor 9 and the left side
The cooperation control welding jointly of right position control servo motor 19；The laser tracker 13 be located at the vision CCD14 just after
Side realizes detection position and image data analysis integration.
Further, in the present embodiment, as shown in Figure 1, the lift servo motor 9 and left-right position control are watched
It takes motor 19 to be respectively set on the cross beam 6, crossbeam 6 is equipped with wire reel 1；The left-right position control servo motor 19 is by hanging
Ring and bracket 5 are arranged on the crossbeam 6, and the rear of the wire reel 1 is arranged in the hanging ring and bracket 5；The left and right position
It sets control servo motor 19 to be arranged in moving trolley 18, the left-right position control servo motor 19 is equipped with left and right control mould
Group 20.
Further, in the present embodiment, as shown in Figure 1, the controller 2 is equipped with touch screen 3, the controller 2
It is arranged on the crossbeam 6 by control box lock handle 4；Silk guide frame 7 is additionally provided on the crossbeam 6, the silk guide frame 7 is arranged
Between the hanging ring and bracket 5 and the lift servo motor 9.
Further, in the present embodiment, described as shown in Figure 1, the lift servo motor 9 is equipped with solder flux hopper 8
Solder flux hopper 8 is connect with solder flux hose 16, and is arranged on the crossbeam 6；The lower section of the solder flux hopper 8 is equipped with control up and down
Mould group 10, the mould group 10 of control up and down are arranged on the crossbeam 6.
Further, in the present embodiment, described to send as shown in Figure 1, the wire feed rolls 12 is arranged on the crossbeam 6
The lower section of silk wheel 12 is provided with conductive Rod clamp 15, and the lower section of the conductive Rod clamp 15 is arranged in the ignition tip 17,
The ignition tip 17 is directed at the weld of composite metal plate 21；The laser tracker 13 is electrically connected with the controller 2, described
Laser tracker 13 detects the weld bead height Z axis and position Y-axis of composite metal plate 21, and data analysis feeds back to the controller 2,
2 output order of controller carries out parameter benefit to left-right position control servo motor 19 and the lift servo motor 9
It gives, the vision CCD14 is compared the weldquality before welding with the photographic intelligence that system stores.
Further, in the present embodiment, as shown in Figure 1, the wire reel 1 is located on the upside of automation submerged arc soldering equipment
At the rear of controller 2, the controller 2 is located at immediately ahead of the right side of submerged arc soldering equipment for left, and the touch screen 3 is located at
The front of the insertion of controller, the control box lock handle 4 are located at the right side of controller 2, the hanging ring and branch
Frame 5 is located at the surface of submerged arc soldering equipment, and the crossbeam 6 is located at the right-angled intersection face of hanging ring and bracket, the silk guide frame 7
Above the right side of crossbeam 6, the solder flux hopper 8 is located at the right back of submerged arc soldering equipment, behind the front end of crossbeam 6
Face, the lift servo motor 9 are located at the positive front end of submerged arc soldering equipment crossbeam 6, and the mould of the control up and down group 10, which is located at, to be watched
Take the downside of motor 9, the feeding alternating current generator 11 is located at the rear of wire feed rolls 12, the wire feed rolls 12 be located at up and down into
To the front of mould group 11, the laser tracker 13 is located at the front of wire feed rolls 12, and the vision CCD14, which is located at, to be swashed
The front of light tracker 13, the conductive Rod clamp 15 are located at the underface of wire feed rolls 12, the solder flux hose 16
Positioned at the left side of conductive Rod clamp 15, the ignition tip 17 is located at the lower section of conductive clamping bar 15, the moving trolley
18 are located at the bottom of submerged arc soldering equipment, and the left-right position control servo motor 19 is located at the left side of moving trolley 18, described
Left and right control mould group 20 be located at left-right position control servo motor 19 right side.
Further, in the present embodiment, when work, manually metal plate is lifted to welding positioning tool, for weldering
Seam carries out just positioning adjustment and is suitble to height, selects product type by touch screen 3, and DC MOTOR CONTROL moving trolley 18 is advanced,
Laser tracker 13 detects weld bead height Z axis and position Y-axis, and data analysis feeds back to controller, and controller output order is to a left side
Right position control servo motor 20 and lift servo motor 9 carry out parameter supply, and motor driven, vision CCD14 is before welding
Weldquality is compared with the photographic intelligence that system stores, and is analyzed by software, carries out weldquality identification and processing, passes through
Communication transfer accomplishes visualization tracking to host computer and display screen, and sensor is monitored and adjusts to Current Voltage, it is ensured that weldering
Stitch quality.After trolley X-direction welding movement is completed, second welding is carried out, trolley is according to the finger of controller design at this time
It enables, the automatic adjustment for realizing track and height, the monitoring of 13 duration data of laser tracker and analysis, until final soldering and sealing is completed.
Equipment welding is completed by 3 axis robots and laser and visual cooperation, substantially increases the stabilization of production efficiency and product quality
Property, also improve the personal safety of welding machine personnel.
Vision CCD: charge-coupled device, also known as imaging sensor are a kind of large scale integrated circuit optical devices, be
The novel semi-conductor sensor to grow up on the basis of MOC integrated circuit technique, the outstanding feature of charge-coupled device are with electricity
For lotus as signal, the basic function of CCD is the storage of charge and the transfer of charge, it stores the signal generated by light or electric excitation
Charge, when applying the pulse of specific time sequence to it, the signal charge of storage just can make directional transmissions, CCD work in CCD
The main problem of process is generation, storage, transmission and the detection of signal charge, is carried out pair with existing storage standard photographic intelligence
Than automatic identification product quality, it is ensured that quality after before welding.
Laser tracker: work basic principle is one reflector of placement on target point, and the laser that follower head issues is penetrated
Onto reflector, and follower head is returned to, when the object moves, follower head adjustment beam direction carrys out alignment target, meanwhile, it returns
Light beam is received by detection system, and for calculating the spatial position of target, briefly, laser tracking measurement system to be solved
Certainly the problem of is statically or dynamically one point moved in space of tracking, while the space coordinate of determining target point.
Laser tracking measurement system is a kind of high-precision Large-scale Measuring Instruments in industrial measuring system, it, which has gathered, swashs
Interference of light ranging technology, detecting technique, precision machinery technology, computer and control technology, modern numerical calculation theory etc.
Various advanced technologies, to space movement target track and real-time measurement target 3 d space coordinate, it have high-precision,
High efficiency, real-time follow-up, it is quick for installation, easy to operate the features such as, be suitable for the equipped measurement of large-size workpiece, laser tracking
Measuring system is substantially by laser tracking head (tracker), controller, subscriber computer, reflector (target mirror) and measurement attachment
Deng composition, laser tracker is detected and is tracked, effectively solved the problems, such as that weld seam deviation is brought, can greatly improve welding and set
Standby the degree of automation, it is a greater degree of to improve welding quality and weld seam precision, reduce the synthesis manufacturing cost of automatic welding device.
Servo-control system: be enable position, orientation, state of object etc. output controlled volume follow input target (or
Given value) the automatic control system arbitrarily changed, the main task of servo is by the requirement of control command, puts to power
Greatly, the processing such as transformation and regulation, very flexible and convenient, the servo electricity of the torque for exporting driving device, speed and position control
Machine working principle: servo motor is also known as operating motor, in automatic control system, is used as executive component, the electricity received
Signal is converted into angular displacement or angular speed output on motor reel, is mainly characterized by, when signal voltage is zero without rotation
Phenomenon, revolving speed uniform descent with the increase of torque.
Servo motor is a classical closed loop feedback system, and train of reduction gears is driven by motor, terminal (output end) band
A dynamic linear ratio potentiometer makees position detection, which is converted to a ratio-voltage corner coordinate and feeds back to control
Wiring board, it compared with the control wave of input, is generated and corrects pulse by control circuit board, and driving motor is positive or anti-
It is rotated to ground, the output position of gear set is made to be consistent with desired value, enable correction pulse tend to be 0, so that reaching makes servo motor
Pinpoint purpose, the position that servo motor is detected according to laser tracker are precisely located by controller instruction,
Ensure weldquality.
Further, in the present embodiment, the automatic welding for metal composite slab, when work, manually by metal
Composite plate blanks are lifted to working region, and equipment carries out just positioning adjustment for weld seam and is suitble to height, select product by touch screen
Model, DC MOTOR CONTROL moving trolley 18 are advanced, and laser tracker 13 detects weld bead height Z axis and position Y-axis, data analysis
Controller is fed back to, controller output order controls servo motor 19 and lift servo motor 9 to left-right position, carries out parameter benefit
It gives, vision is analyzed the weldquality before welding by software, weldquality identification and processing is carried out, by communication transfer to upper
Position machine and display screen, accomplish visualization tracking, and sensor is monitored and adjusts to Current Voltage, it is ensured that weldquality.Trolley X
After axis direction welding movement is completed, second welding is carried out, moving trolley 18 is according to the instruction of controller design at this time, automatically
Realize the adjustment of track and height, the monitoring of 13 duration data of laser tracker and analysis, until final soldering and sealing is completed, which is welded
It connects by 3 axis robots and the completion of laser and visual cooperation, substantially increases the stability of production efficiency and product quality, also improve
The personal safety of welding machine personnel.
In conclusion in the present embodiment, the automation submerged-arc welding tracked according to the view-based access control model and laser of the present embodiment
Equipment, the automation submerged arc soldering equipment of view-based access control model and laser tracking provided in this embodiment are integrated with automatic detection, automatic knowledge
Not, it automatically tracks, automatically control, the automation equipment that automatic information transmission is integrated, passing through CCD, laser tracker and servo
Motor control, three are fitted close, and CCD is compared by image and storage parameter standard, laser tracker carry out detection with
Tracking, makes up large-scale workpiece and puts levelness defect, weld seam exact position can not be fixed, and the level identification problem of welding passes through
Signal communication is instructed to controller, servo motor by controller, and the corresponding positions that trolley reaches accurate X, Y, Z axis are automatically controlled
It sets, completes welding, perfect cooperation improves welding quality, welding efficiency and reduction labor intensity, realizes the visual of welding
Change.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. a kind of view-based access control model and laser tracking automation submerged arc soldering equipment, including controller (2), lift servo motor (9),
Feed alternating current generator (11), wire feed rolls (12), laser tracker (13), vision CCD (14), ignition tip (17) and left-right position control
Servo motor (19) processed, it is characterised in that: the controller (2) is handed over the lift servo motor (9) and the feeding respectively
Galvanic electricity machine (11) connection, the feeding alternating current generator (11) are arranged on the wire feed rolls (12)；The laser tracker (13)
Positioned at the front of the ignition tip (17), it is connected with the mounting blocks in front of the wire feed rolls (12)；Vision CCD (14) position
In the front of the laser tracker (13)；The lift servo motor (9) is fed back according to the laser tracker (13)
Welding seam position information by controller (2) control welding gun Z axis feeding；Left-right position control servo motor (19) is according to institute
It states the welding seam position information that laser tracker (13) is fed back and controls the feeding of welding gun X-axis by controller (2)；The laser tracking
Device (13) carries out detection, tracking and the identification of weld seam, and difference in height is made up by laser measurement, controls size of current；It is described to swash
Light tracker (13), the lift servo motor (9) and left-right position control servo motor (19) cooperation control weldering jointly
It connects；The laser tracker (13) is located at the dead astern of the vision CCD (14), realizes detection position and image data analysis one
Body.
2. a kind of view-based access control model according to claim 1 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
The lift servo motor (9) and left-right position control servo motor (19) are separately positioned on crossbeam (6), crossbeam (6)
It is equipped with wire reel (1).
3. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
Left-right position control servo motor (19) is arranged on the crossbeam (6) by hanging ring and bracket (5), the hanging ring and branch
Frame (5) is arranged at the rear of the wire reel (1).
4. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
Left-right position control servo motor (19) is arranged on moving trolley (18), and the left-right position controls servo motor (19)
It is equipped with left and right control mould group (20).
5. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
The controller (2) is equipped with touch screen (3), and the controller (2) is arranged by control box lock handle (4) in the crossbeam
(6) on.
6. a kind of view-based access control model according to claim 3 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
It is additionally provided with silk guide frame (7) on the crossbeam (6), silk guide frame (7) setting is watched in the hanging ring and bracket (5) with the lifting
It takes between motor (9).
7. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
The lift servo motor (9) is equipped with solder flux hopper (8), and the solder flux hopper (8) connect with solder flux hose (16), and is arranged
On the crossbeam (6).
8. a kind of view-based access control model according to claim 7 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
The lower section of the solder flux hopper (8) is equipped with control mould group (10) up and down, and control mould group (10) up and down is arranged in the crossbeam
(6) on.
9. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that:
The wire feed rolls (12) is arranged on the crossbeam (6), is provided with conductive Rod clamp (15) below the wire feed rolls (12),
Ignition tip (17) setting is directed at composite metal plate in the lower section of the conductive Rod clamp (15), the ignition tip (17)
(21) weld.
10. a kind of view-based access control model according to claim 9 and the automation submerged arc soldering equipment of laser tracking, feature exist
In: the laser tracker (13) is electrically connected with the controller (2), and the laser tracker (13) detects composite metal plate
(21) weld bead height Z axis and position Y-axis, data analysis are fed back to the controller (2), controller (2) output order
To left-right position control servo motor (19) and the lift servo motor (9), parameter supply, the vision CCD are carried out
(14) weldquality before welding is compared with the photographic intelligence that system stores.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711212263.9A CN109834373A (en) | 2017-11-28 | 2017-11-28 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711212263.9A CN109834373A (en) | 2017-11-28 | 2017-11-28 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109834373A true CN109834373A (en) | 2019-06-04 |
Family
ID=66879382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711212263.9A Pending CN109834373A (en) | 2017-11-28 | 2017-11-28 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109834373A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238488A (en) * | 2019-06-15 | 2019-09-17 | 中山市器美机器人科技有限公司 | Vision guide bonding machine |
| CN110860791A (en) * | 2019-12-25 | 2020-03-06 | 汤忠武 | Laser seam-searching visual guidance welding system and welding method |
| CN112475538A (en) * | 2020-11-11 | 2021-03-12 | 苏州热工研究院有限公司 | Water-cooled wall on-site automatic surfacing device based on self-adaptive principle |
| CN113560701A (en) * | 2021-08-09 | 2021-10-29 | 苏州天顺新能源科技有限公司 | Submerged arc welding operation step and method |
| CN114193034A (en) * | 2021-12-17 | 2022-03-18 | 北京石油化工学院 | Multi-gun efficient welding control method and system for precast slab steel bars |
| CN115805386A (en) * | 2022-11-16 | 2023-03-17 | 深圳市宁智院汽车智能科技有限公司 | Welding error monitoring method, device and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101138803A (en) * | 2007-09-30 | 2008-03-12 | 无锡市风华焊接设备有限公司 | Submerged arc welding carriage |
| CN201969987U (en) * | 2011-03-23 | 2011-09-14 | 沈阳大学 | Flat fillet submerged arc automatic welding trolley |
| KR20120132889A (en) * | 2011-05-30 | 2012-12-10 | 대우조선해양 주식회사 | Submerged arc welding machine capable of weld-line trace |
| CN202639617U (en) * | 2012-07-03 | 2013-01-02 | 中国石油化工股份有限公司 | Electric conducting mechanism of automatic submerged-arc welding machine |
| CN103203516A (en) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | Automatic welding device for composite board billet assembly |
| CN103934547A (en) * | 2014-05-05 | 2014-07-23 | 江苏永大化工机械有限公司 | Submerged-arc automatic welding walking trolley and submerged-arc welding method |
| CN106238871A (en) * | 2016-08-29 | 2016-12-21 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligence gantry welding connection device |
| CN207593022U (en) * | 2017-11-28 | 2018-07-10 | 史和生 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
-
2017
- 2017-11-28 CN CN201711212263.9A patent/CN109834373A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101138803A (en) * | 2007-09-30 | 2008-03-12 | 无锡市风华焊接设备有限公司 | Submerged arc welding carriage |
| CN201969987U (en) * | 2011-03-23 | 2011-09-14 | 沈阳大学 | Flat fillet submerged arc automatic welding trolley |
| KR20120132889A (en) * | 2011-05-30 | 2012-12-10 | 대우조선해양 주식회사 | Submerged arc welding machine capable of weld-line trace |
| CN103203516A (en) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | Automatic welding device for composite board billet assembly |
| CN202639617U (en) * | 2012-07-03 | 2013-01-02 | 中国石油化工股份有限公司 | Electric conducting mechanism of automatic submerged-arc welding machine |
| CN103934547A (en) * | 2014-05-05 | 2014-07-23 | 江苏永大化工机械有限公司 | Submerged-arc automatic welding walking trolley and submerged-arc welding method |
| CN106238871A (en) * | 2016-08-29 | 2016-12-21 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligence gantry welding connection device |
| CN207593022U (en) * | 2017-11-28 | 2018-07-10 | 史和生 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238488A (en) * | 2019-06-15 | 2019-09-17 | 中山市器美机器人科技有限公司 | Vision guide bonding machine |
| CN110860791A (en) * | 2019-12-25 | 2020-03-06 | 汤忠武 | Laser seam-searching visual guidance welding system and welding method |
| CN110860791B (en) * | 2019-12-25 | 2021-06-08 | 株洲光谷激光加工技术有限公司 | Laser seam-searching visual guidance welding system and welding method |
| CN112475538A (en) * | 2020-11-11 | 2021-03-12 | 苏州热工研究院有限公司 | Water-cooled wall on-site automatic surfacing device based on self-adaptive principle |
| CN113560701A (en) * | 2021-08-09 | 2021-10-29 | 苏州天顺新能源科技有限公司 | Submerged arc welding operation step and method |
| CN114193034A (en) * | 2021-12-17 | 2022-03-18 | 北京石油化工学院 | Multi-gun efficient welding control method and system for precast slab steel bars |
| CN114193034B (en) * | 2021-12-17 | 2023-05-09 | 北京石油化工学院 | Multi-gun efficient welding control method and system for precast slab reinforcement |
| CN115805386A (en) * | 2022-11-16 | 2023-03-17 | 深圳市宁智院汽车智能科技有限公司 | Welding error monitoring method, device and system |
| CN115805386B (en) * | 2022-11-16 | 2024-01-09 | 深圳市宁智院汽车智能科技有限公司 | Welding error monitoring method, device and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109834373A (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN112059363B (en) | Unmanned wall climbing welding robot based on vision measurement and welding method thereof | |
| CN204414117U (en) | A kind of vision positioning welding machine people | |
| CN105033419B (en) | Movable welding robot device based on weld pool image weld seam tracking | |
| CN103480991B (en) | Thin steel plate narrow welding joint online visual inspection and control device | |
| CN108747132A (en) | Autonomous welding robot vision control system | |
| CN107262926B (en) | Automatic laser welding device with CCD detection function and welding method | |
| CN203791807U (en) | Welding robot | |
| CN202607049U (en) | Wheeled autonomously-moving welding robot control system with function of image monitoring | |
| CN104759736A (en) | Container corrugated plate welding robot and visual servo control system thereof | |
| CN112191993B (en) | Argon arc welding seam tracking system and method | |
| CN105171742A (en) | 3D printing welding method using multi-degree-of-freedom robot | |
| CN204470838U (en) | A kind of welding robot control system | |
| CN104708158A (en) | Automatic circuit board welding method | |
| CN105618976A (en) | Intelligent welding seam welding system | |
| CN111266254A (en) | Automatic tracking dispensing equipment based on assembly line | |
| CN207593022U (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN212329961U (en) | Unmanned wall welding robot that climbs based on vision measurement | |
| CN203636184U (en) | Container corrugated plate welding robot and visual servo control system thereof | |
| CN206105156U (en) | Three -dimensional rectangular robot line laser welding seam automatic tracking system | |
| CN210677336U (en) | Welding seam track automatic identification device based on vision technology | |
| CN207668767U (en) | Device for the swash plate in welded tank case | |
| CN107931787A (en) | A kind of vision closed loop welding system and implementation method | |
| CN109986255B (en) | Hybrid vision servo parallel robot and operation method | |
| CN105436725B (en) | A kind of Piston Rods Die vision testing machine intelligence repair system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |