CN110193689A - Corrugated plating automatic welding machine people - Google Patents
Corrugated plating automatic welding machine people Download PDFInfo
- Publication number
- CN110193689A CN110193689A CN201910530730.5A CN201910530730A CN110193689A CN 110193689 A CN110193689 A CN 110193689A CN 201910530730 A CN201910530730 A CN 201910530730A CN 110193689 A CN110193689 A CN 110193689A
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- Prior art keywords
- plate
- welding
- pivot angle
- component
- connecting rod
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
Corrugated plating automatic welding machine people of the invention tracks component including control system, track, the welding machine being set on trolley and lifting device, the wire feed system being set on lifting device, the telescopic device that lifting device side is arranged in, the vision for being set to the welding head of telescopic device end and telescopic device end profile being arranged in.Wherein welding head includes connecting rod pivot angle component, arc plate gun pendulum component, pivot angle driving assembly, inclination angle driving assembly.The robot can automatic identification welding track and weld width, welding quality stable, appearance of weld consistency is good, welding efficiency is high, intelligence degree is high, operation is simple and reliable；The adjustment that a variety of posture of welding torch were directed toward and swung in welding may be implemented, meet the requirement of different welding procedures.Vision tracking component can realize automatic recognition and tracking, and whole process is without dead angle；When welding gun collides, equipment is automatically stopped, and after obstacle is eliminated, be can proceed with welding, is improved the defencive function and safety coefficient of equipment.
Description
Technical field
The present invention relates to robotic welding technology fields, more particularly to a kind of corrugated plating automatic welding machine people.
Background technique
In the manufacturing process of container, corrugated plating splicing welding and frame with corrugated plating assembly welding heavy workload,
Operating condition very severe；But since mature equipment is considerably less and cost is very high, so current welding is still with artificial hand
Based on work welding；Manual welding is more to professional welder's demand, not only large labor intensity, and molding effect is bad, the reconditioning weldering in later period
It is very big to connect workload, efficiency is also low；Although having many corrugated plating welding equipments at present, when corrugated plating deforms big, gap
Greatly, when needing the situations such as welding angle height, it is not able to satisfy welding process requirement, still needs to artificial repair welding, and when welding gun is with ripple pivot angle,
Vision is tracked there are dead angle, can not achieve really automation, intelligence.
Summary of the invention
The technical problem to be solved in the present invention is that designing a kind of corrugated plating welding equipment of high degree of automation.
The technical scheme adopted by the invention is that: a kind of corrugated plating automatic welding machine people includes control system, track, sets
The welding machine and lifting device that are placed on trolley are set to lifting device upper wire feeding hose system and the flexible of lifting device side are arranged in
Device, and be set to the welding head of telescopic device end and the vision tracking component of telescopic device end profile is set,
Wherein vision tracking component includes the cross slide arm that telescopic device front end side is arranged in, the translation being arranged on cross slide arm cunning
Group and the Visual Tracking System that the sliding block side that translation cunning is organized is set；Welding head includes connecting rod pivot angle component, arc plate gun pendulum
Component, pivot angle driving assembly, inclination angle driving assembly.Arc plate gun pendulum component is arranged on the pinboard of connecting rod pivot angle component, pivot angle
Driving assembly is arranged on the upside of the slide plate of arc plate gun pendulum component, and inclination angle driving assembly is arranged on the connecting plate of pivot angle driving assembly
End.Under the action of connecting rod pivot angle component, guarantee that welding gun is vertical with weld seam holding always；Arc plate gun pendulum component realizes soldering angle
Adjusting；Pivot angle driving assembly meets the requirement of welding procedure corner welding height, and guaranteeing also can automatic welding when gap is big；Inclination angle
Driving assembly guarantees that welding gun and weld seam have certain top rake, and meets the requirement of corner welding height in welding procedure.In vision
Under the action of tracker component, automatic identification welding track and weld width, to realize the automatic welding of corrugated plating fillet weld.
The camera of Visual Tracking System kind is arranged to the angle opposite with corrugated sheet, when welding gun is with ripple weld seam pivot angle, is always ensured that
There is a phase function to monitor welding gun and position while welding, avoids observation dead angle.
Connecting rod pivot angle component includes mounting plate, draft link, connecting rod, motor, upper pendulum bar, lower link, pinboard and connecting rod inspection
Switch is surveyed, mounting plate is arranged in telescopic device end；Draft link one end and mounting plate are hinged, and the side of the other end and motor export
Axis connection, the other side are hinged with connecting rod；Lower link one end and mounting plate are hinged, and the side of the other end and draft link are hinged, another
Side is hinged with upper pendulum bar；The other end of pinboard and upper pendulum bar is hinged, hinged with the other end of connecting rod；The setting of connecting rod detection switch
It is corresponding with the sensor block position of draft link lower end surface setting in the side of mounting plate.When connecting rod pivot angle component is swung, rifle point position
It sets and remains unchanged, when welding with ripple weld seam, guarantee that welding gun is directed at weld seam always.
Arc plate gun pendulum component include adjustment seat, driving gear, big guide wheel, arc plate driving motor, pinch roller, curved tooth plate, slide plate,
Pinboard is fixed on by attachment base in guide wheel and arc plate pivot angle detection switch, curved tooth plate lower end, and arc plate driving motor is fixed on cunning
On the left of plate, arc plate driving motor front end is equipped with big directive wheel and driving gear, and sliding tooth is meshed with curved tooth plate external tooth, and slide plate is logical
Excessive directive wheel, pinch roller and guide wheel and the inside and outside arc of curved tooth plate are tangent, and slide plate can be made around curved tooth plate center rotating, the inspection of arc plate pivot angle
It surveys switch to be arranged in slide plate lower end, and corresponding with the induction Board position being arranged on pinboard.The controllable weldering of arc plate gun pendulum component
Rifle wire-wrap tool point pivot angle realizes the angular adjustment of welding gun and horizontal direction.
Pivot angle driving assembly includes pivot angle driving motor, connecting plate and pivot angle detection switch, and the setting of pivot angle driving motor exists
The output end of pivot angle driving motor is arranged in the upper end of slide plate, connecting plate, and pivot angle detection switch is arranged on the outside of slide plate, with connection
Sensing chip position on plate is corresponding.Pivot angle driving assembly guarantees that welding gun can be swung up in weld width side, guarantees welding
Molding.
Inclination angle driving assembly includes inclination angle driving motor, anticollision, adapter frame, rifle folder, welding gun and inclination angle detection switch, is turned
The upper end of frame setting connecting plate is connect, anticollision is arranged on rear side of the upper end of connecting plate, and adapter frame is arranged in inclination angle driving motor
Upper end, the output end of inclination angle driving motor are connected with rifle folder, and rifle presss from both sides lower end and welding gun is housed, and inclination angle detection switch is arranged in adapter frame
Outside, it is corresponding with the induction folded plate position on the outside of rifle folder upper end.Inclination angle driving assembly, which can be realized welding gun and weld seam, has one
Fixed inclination angle.
The beneficial effects of the present invention are: corrugated plating automatic welding machine people of the present invention being capable of automatic identification welding track and weldering
Three-dimensional information is stitched, accurately controls the positional relationship of welding gun and weld seam in the welding process, welding quality stable, appearance of weld are consistent
Property is good, welding efficiency is high, intelligence degree is high, operation is simple and reliable；The control of Butt welding gun uses Serve Motor Control, by matching
The adjustment that a variety of posture of welding torch were directed toward and swung in welding may be implemented in the robot control system of set, meets different welding procedures
It is required that；And guarantee it is all adjusting using welding gun rifle point as origin, it can be achieved that welding gun be aligned always weld seam, the moment adjust welding gun and
The angle of horizontal direction, the angle with vertical direction, and can be swung and be welded according to welding procedure demand；Welding procedure and welding gun are dynamic
It gestures in the welding procedure library of data integration in the controls, when welding can directly call in technology library, and by logical
News mode real-time control adjusts matched digital welding power source.Return reference point has been carried out with sensor block by switch and crosses limit report
Alert operation；Vision tracking component can realize automatic identification be directed at the functions such as weld seam, the tracking of side welding edge, track correct, whole process
Without dead angle, to realize that weld seam accurately automatically tracks welding；When welding gun collides, equipment is automatically stopped, and protects welding gun
And equipment is not damaged, and after obstacle is eliminated, can proceed with welding, without replacing components, is reduced spoilage, is improved
The defencive function and safety coefficient of equipment.
Detailed description of the invention
With reference to the accompanying drawing, embodiments of the present invention are specifically illustrated, technical solution of the present invention and other effects will be made
It shows.
Fig. 1 is the structural schematic diagram of corrugated plating automatic welding machine people of the present invention.
Fig. 2 is the structural schematic diagram of vision tracking component of the present invention.
Fig. 3 is the structural schematic diagram of welding head of the present invention.
Fig. 4 is the axonometric drawing of welding head of the present invention.
Specific embodiment
Further to illustrate technological means, creation feature and its effect adopted by the present invention, below in conjunction with the present invention
Preferred embodiment and its attached drawing be described in detail.
As shown in Figure 1, 2, 3, corrugated plating automatic welding machine people includes electric control system, track 1, is set to trolley 8
On welding machine 1 and lifting device 4, the wire feed system 3 that is set on lifting device 4 and the flexible of 4 side of lifting device is set
Device 6, and be set to the welding head 7 of 6 end of telescopic device and the vision tracking group of 6 end profile of telescopic device is set
Part 5, wherein vision tracking component 5 includes the cross slide arm 51 that 6 front end side of telescopic device is arranged in, is arranged in cross slide arm 51
On the sliding group 52 of translation and be arranged in the sliding group 52 of translation sliding block side Visual Tracking System 53；Welding head 7 includes connecting rod
Pivot angle component 71, arc plate gun pendulum component 72, pivot angle driving assembly 73, inclination angle driving assembly 74.The setting of arc plate gun pendulum component 72 exists
On the pinboard of connecting rod pivot angle component 71, pivot angle driving assembly 73 is arranged on the upside of the slide plate of arc plate gun pendulum component 72, and inclination angle is driven
The connecting plate upper end of pivot angle driving assembly 73 is arranged in dynamic component 74.
As shown in Figure 3,4, connecting rod pivot angle component 71 include mounting plate 101, draft link 102, connecting rod 103, motor 104, on
Swing rod 105, lower link 106, pinboard 107 and connecting rod detection switch 108, mounting plate 101 are arranged in 6 end of telescopic device；Under
102 one end of swing rod and mounting plate 101 are hinged, and the side of the other end and motor 104 export axis connection, and the other side and connecting rod 103 are cut with scissors
It connects；106 one end of lower link and mounting plate 101 are hinged, and the side of the other end and draft link 102 are hinged, the other side and upper pendulum bar 105
Hingedly；Pinboard 107 and the other end of upper pendulum bar 105 are hinged, hinged with the other end of connecting rod 103；Connecting rod detection switch 108 is set
It sets in the side of mounting plate 101, it is corresponding with the sensor block position of 102 lower end surface of draft link setting.Connecting rod is driven in motor 104
Under component, guarantee that welding gun is vertical with weld seam holding always.
As shown in Figure 3,4, arc plate gun pendulum component 72 includes adjustment seat 201, driving gear 202, big guide wheel 203, the drive of arc plate
Dynamic motor 204, pinch roller 205, curved tooth plate 206, slide plate 207, guide wheel 208 and arc plate pivot angle detection switch 209, curved tooth plate lower end are logical
It overregulates seat 201 and is fixed on pinboard 107, curved tooth plate driving motor 204 is fixed on 207 left side of slide plate, arc plate driving motor 204
Front end is equipped with big directive wheel 203 and driving gear 202, and sliding tooth 202 is meshed with 206 external tooth of curved tooth plate, and slide plate 207 passes through big
Directive wheel 203, pinch roller 205 and guide wheel 208 and the inside and outside arc of curved tooth plate 206 are tangent, and slide plate 207 can be made to turn around 206 center of curved tooth plate
Dynamic, arc plate pivot angle detection switch 209 is arranged in slide plate lower end, and corresponding with the induction Board position being arranged on pinboard 107.It is real
The real-time adjusting of existing soldering angle.
As shown in Figure 3,4, pivot angle driving assembly 73 includes pivot angle driving motor 301, connecting plate 302 and pivot angle detection switch
303, the upper end of slide plate 207 is arranged in pivot angle driving motor 301, and the output of pivot angle driving motor 301 is arranged in connecting plate 302
End, the setting of pivot angle detection switch 303 are corresponding with the sensing chip position on connecting plate 302 on the outside of slide plate 207.Meet welding
The requirement of technique corner welding height.
As shown in figure 3, inclination angle driving assembly 74 includes inclination angle driving motor 401, inclination angle detection switch 402, anticollision
403, the upper end of connecting plate 302 is arranged in adapter frame 404, rifle folder 405 and welding gun 406, adapter frame 404, and the setting of anticollision 403 is even
On rear side of the upper end of fishplate bar 302, the upper end of adapter frame 404, the output of inclination angle driving motor 401 is arranged in inclination angle driving motor 401
It holds and is connected with rifle folder 405, rifle presss from both sides 405 lower ends and welding gun 406 is housed, and inclination angle detection switch 402 is arranged on the outside of adapter frame 404, with
The induction folded plate position that rifle presss from both sides on the outside of 405 upper ends is corresponding.Guarantee that welding gun and weld seam have certain top rake, and meets Welder
The requirement of corner welding height in skill.
Corrugated plating automatic welding machine people's embodiment course of work of the invention are as follows:
The welding of corrugated plating can be using previously-scanned and two kinds of forms of real-time tracking.First corrugated plating workpiece 9 is ajusted, is positioned,
Control system control welding gun advances to welding starting point, and vision tracks component 5 close to corrugated plating, and scanning is anti-to ripple information
It feeds control system, control system controls welding gun 406 and reaches above weld seam, adjusts 406 posture of welding gun, starts weld job.Weldering
Control system tracks the data Butt welding gun position that component 5 detects according to vision and is adjusted in real time in termination process, and according to welding
Technology controlling and process welding gun 406 acts, and initial segment is automatically returned to after welding, waits welding next time.
The above description is merely a specific embodiment.The present invention is not limited to the above embodiments, above-mentioned implementation
That describes in example and specification merely illustrates the principles of the invention, under the premise without departing from the spirit and scope of the present invention, this
Invention also has various modifications and variations, and such modifications and variations all fall within the protetion scope of the claimed invention.
Claims (5)
1. a kind of corrugated plating automatic welding machine people, including control system, track, the welding machine being set on trolley and lifting dress
The wire feed system that set, is set on lifting device, is set to telescopic device end at the telescopic device that lifting device side is arranged in
Welding head and be arranged in telescopic device end profile vision tracking component, it is characterised in that:
The vision tracking component includes the cross slide arm that telescopic device front end side is arranged in, putting down on cross slide arm is arranged in
It moves sliding group and the Visual Tracking System of the sliding block side of the sliding group of translation is set；
The welding head includes connecting rod pivot angle component, arc plate gun pendulum component, pivot angle driving assembly, inclination angle driving assembly, arc plate
Gun pendulum component is arranged on the pinboard of connecting rod pivot angle component, and pivot angle driving assembly is arranged on the slide plate of arc plate gun pendulum component
The connecting plate upper end of pivot angle driving assembly is arranged in side, inclination angle driving assembly.
2. corrugated plating automatic welding machine people according to claim 1, it is characterised in that: the connecting rod pivot angle component includes
Mounting plate, draft link, connecting rod, motor, upper pendulum bar, lower link, pinboard and connecting rod detection switch, mounting plate setting is in flexible dress
Set terminal；Draft link one end and mounting plate are hinged, and the side of the other end is connect with motor output shaft, and the other side is hinged with connecting rod；
Lower link one end and mounting plate are hinged, and the side of the other end is hinged with draft link, and the other side is hinged with upper pendulum bar；Pinboard with it is upper
The other end of swing rod is hinged, hinged with the other end of connecting rod；The side of mounting plate is arranged in connecting rod detection switch, under draft link
The sensor block position of end face setting is corresponding.
3. corrugated plating automatic welding machine people according to claim 1, it is characterised in that: the arc plate gun pendulum component includes
Adjustment seat, driving gear, big guide wheel, arc plate driving motor, pinch roller, curved tooth plate, slide plate, guide wheel and arc plate pivot angle detection switch,
Pinboard is fixed on by attachment base in curved tooth plate lower end, and arc plate driving motor is fixed on the left of slide plate, arc plate driving motor front end
Equipped with big directive wheel and driving gear, sliding tooth is meshed with curved tooth plate external tooth, slide plate by big directive wheel, pinch roller and guide wheel and
The inside and outside arc of curved tooth plate is tangent, and slide plate can be made around curved tooth plate center rotating, and arc plate pivot angle detection switch is arranged in slide plate lower end, and
It is corresponding with the induction Board position being arranged on pinboard.
4. corrugated plating automatic welding machine people according to claim 1, it is characterised in that: the pivot angle driving assembly includes
The upper end of slide plate is arranged in pivot angle driving motor, connecting plate and pivot angle detection switch, pivot angle driving motor, and connecting plate setting is being put
The output end of angle driving motor, pivot angle detection switch is arranged on the outside of slide plate, corresponding with the sensing chip position on connecting plate.
5. corrugated plating automatic welding machine people according to claim 1, it is characterised in that: the inclination angle driving assembly includes
The upper end of connecting plate is arranged in inclination angle driving motor, anticollision, adapter frame, rifle folder, welding gun and inclination angle detection switch, adapter frame, prevents
Collision is arranged on rear side of the upper end of connecting plate, and the upper end of adapter frame, the output of inclination angle driving motor is arranged in inclination angle driving motor
End is connected with rifle folder, and rifle presss from both sides lower end and welding gun is housed, and inclination angle detection switch is arranged on the outside of adapter frame, with the sense on the outside of rifle folder upper end
Answer folded plate position corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530730.5A CN110193689A (en) | 2019-06-19 | 2019-06-19 | Corrugated plating automatic welding machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530730.5A CN110193689A (en) | 2019-06-19 | 2019-06-19 | Corrugated plating automatic welding machine people |
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| CN110193689A true CN110193689A (en) | 2019-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910530730.5A Pending CN110193689A (en) | 2019-06-19 | 2019-06-19 | Corrugated plating automatic welding machine people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883451A (en) * | 2019-11-26 | 2020-03-17 | 宁波百华数控机械有限公司 | Four-gun intelligent welding equipment for straight pipe flange |
| CN111906416A (en) * | 2020-07-08 | 2020-11-10 | 湖南华菱湘潭钢铁有限公司 | Blind area visible welding equipment and welding method thereof |
| CN113649741A (en) * | 2021-08-19 | 2021-11-16 | 江南大学 | Corrugated plate automatic welding machine and control system thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10211574A (en) * | 1997-01-30 | 1998-08-11 | Hitachi Zosen Corp | Welding robot for corrugated and superposed plate part welding |
| CN101574752A (en) * | 2009-05-21 | 2009-11-11 | 山东大学 | Device for detecting welding track of corrugated plate of container based on laser ranging |
| CN203636184U (en) * | 2014-01-07 | 2014-06-11 | 中国国际海运集装箱(集团)股份有限公司 | Container corrugated plate welding robot and visual servo control system thereof |
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN106041263A (en) * | 2016-06-24 | 2016-10-26 | 湘潭大学 | Welding gun space position and posture self-adaptive adjustment system and method of wheel type welding robot |
-
2019
- 2019-06-19 CN CN201910530730.5A patent/CN110193689A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10211574A (en) * | 1997-01-30 | 1998-08-11 | Hitachi Zosen Corp | Welding robot for corrugated and superposed plate part welding |
| CN101574752A (en) * | 2009-05-21 | 2009-11-11 | 山东大学 | Device for detecting welding track of corrugated plate of container based on laser ranging |
| CN203636184U (en) * | 2014-01-07 | 2014-06-11 | 中国国际海运集装箱(集团)股份有限公司 | Container corrugated plate welding robot and visual servo control system thereof |
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN106041263A (en) * | 2016-06-24 | 2016-10-26 | 湘潭大学 | Welding gun space position and posture self-adaptive adjustment system and method of wheel type welding robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883451A (en) * | 2019-11-26 | 2020-03-17 | 宁波百华数控机械有限公司 | Four-gun intelligent welding equipment for straight pipe flange |
| CN111906416A (en) * | 2020-07-08 | 2020-11-10 | 湖南华菱湘潭钢铁有限公司 | Blind area visible welding equipment and welding method thereof |
| CN111906416B (en) * | 2020-07-08 | 2021-12-21 | 湖南华菱湘潭钢铁有限公司 | Blind area visible welding equipment and welding method thereof |
| CN113649741A (en) * | 2021-08-19 | 2021-11-16 | 江南大学 | Corrugated plate automatic welding machine and control system thereof |
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