CN110421234A - Space curve welding seam tracker - Google Patents
Space curve welding seam tracker Download PDFInfo
- Publication number
- CN110421234A CN110421234A CN201810406872.6A CN201810406872A CN110421234A CN 110421234 A CN110421234 A CN 110421234A CN 201810406872 A CN201810406872 A CN 201810406872A CN 110421234 A CN110421234 A CN 110421234A
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- China
- Prior art keywords
- feeler lever
- tracker
- vertical
- horizontal
- encoder
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- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 50
- 238000005476 soldering Methods 0.000 claims abstract description 6
- 239000007787 solid Substances 0.000 claims abstract 3
- 239000000969 carrier Substances 0.000 claims abstract 2
- 238000007789 sealing Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 239000000700 radioactive tracer Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000010959 steel Substances 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
Space curve welding seam tracker is mainly made of six parts such as tracker outer housing, two side seal board of track device outer housing, vertical and horizontal feeler lever, encoder, feeler lever connector and weld joint tracking orienting roll wheel carriers.The mobile components such as limit switch and indicator light of two feeler levers of vertical and horizontal, two encoders, feeler lever are assembled in tracker outer housing respectively.Cylinder rack gear on feeler lever is engaged with the gear of encoder, the stretching of feeler lever, the linear motion that contracts drive the forward and reverse rotation of encoder, the pulse signal of encoder output forward and backward is real-time transmitted on machine soldering apparatus people's controller, controller is respectively according to the numerical-control motor of vertical and horizontal encoder pulse signal delay and running vertical and horizontal, when welding gun reaches the path position of variation, the position of accurate adjustment welding gun, so that welding gun is remained at the position of tracked weld seam path proper fit, realizes the purpose of the solid space curved welding seam tracking of vertical and horizontal combination.Space curve welding seam tracker of the present invention is able to satisfy the tracking welding requirements of the comprehensive weldment of different shape solid space curve.
Description
Technical field
The present invention relates to a kind of and matched product of industrial welding robot, in particular to one kind is able to satisfy difference
The welding that automatically tracks of the omnibearing stereo space weld of shape weld seam requires.
Background technique
Currently, China's industrial production, needs the production requirement according to client, providing can efficient, low cost, quick realization weldering
The scheme of welding robot full-automatic tracking weld job.
Existing some Weld joint trackers, majority is using laser or the tracker of video image, and structure is complicated, and price is high, can
To track the weld seam of left and right trail change, but it is big to the low error of weld joint tracking precision of upper-lower height trail change, it is welded in real time
Interference when connecing tracking, vulnerable to welding arc light, it is necessary to take the measure for blocking welding arc light just to can work normally, it is existing
These Weld joint trackers having it is comprehensive automatically track welding in terms of, there are above-mentioned insufficient defects.
Summary of the invention
The object of the present invention is to provide a kind of structures simply, low manufacture cost, light, tracking accuracy is high, not by welding arc
Light interferes, in horizontal and vertical while tracking space curve welding seam tracker, meets the comprehensive weld seam of different shapes and sizes
Automatically track welding require.
The invention adopts the following technical scheme:
Space curve welding seam tracker, mainly by tracker outer housing, two side seal board of track device outer housing, vertical and horizontal feeler lever,
Six parts such as encoder, feeler lever connector and weld joint tracking orienting roll wheel carrier composition.Assembly is longitudinal respectively in tracker outer housing
With laterally two feeler levers, two encoders, two gears being assemblied on encoder axis engaged with feeler lever cylinder rack gear, three
Feeler lever move limit switch, two display feeler lever shift positions indicator light and hang over the bullet that two feeler levers apply certain elastic force
The accessories such as spring；The exposed end of two feeler levers, assembles feeler lever connector one and feeler lever connector two respectively, and feeler lever connector one connects
Tracker cantilever lever is connect, two attachment weld of feeler lever connector tracks orienting roll wheel carrier, and weld joint tracking guide roller is assemblied in weld seam
It tracks on orienting roll wheel carrier.
Two feeler lever cylinder rack gears of vertical and horizontal of tracker, are engaged with the gear for being assemblied in encoder rotary shaft, are indulged
To stretched with lateral feeler lever, contract linear motion when, drive the encoder axis gear that engages with the cylinder rack gear on feeler lever positive and negative
Direction rotation, the pulse signal of encoder output forward and backward are real-time transmitted on machine soldering apparatus people's controller, and controller distinguishes root
According to the numerical-control motor of vertical and horizontal encoder pulse signal delay and running vertical and horizontal, reach the path position of variation in welding gun
When setting, the accurate position for adjusting welding gun makes welding gun remain at the position of proper fit on tracked weld seam path, reaches
Realize the purpose of the space curve welding seam tracking of real-time vertical and horizontal combination, encoder is assemblied in encoder fixed plate, and
It is fixed on the stud among tracker outer housing.
The mobile limit switch of a feeler lever is assembled in the lower part of longitudinal feeler lever and assembles two spies at the rear portion of lateral feeler lever
Bar moves limit switch, and feeler lever touches limit switch when movement is beyond its motion range, and limit switch is connected, machine soldering apparatus
People's controller indicates welding pause, and guard space curved welding seam tracker is not damaged.
Feeler lever shift position indicator light is installed respectively in vertical and horizontal feeler lever, indicator light penetrates tracker shell body side surface
Indicator light light tank on sealing plate one indicates the mobile present position of vertical and horizontal feeler lever in real time, intuitive to show locating for feeler lever
Position, convenient for pre-adjusting the position of space curve welding seam tracker installation.
Two feeler levers hang a spring respectively, and the effect of spring is to allow feeler lever when mobile by external force, Neng Gou
Elastic force effect is lower to be resetted.
Feeler lever connector one is connect with tracker cantilever lever, and adjustable tracker is in place；Feeler lever connector
Two can connect in lateral, longitudinal and oblique three directions in 45 degree of angles with weld joint tracking orienting roll wheel carrier according to the form of weld seam,
Weld joint tracking orienting roll wheel carrier assembles the guide roller of two kinds of forms respectively, and weld joint tracking orienting roll wheel carrier can rotate, allow and lead
Way roller adapts to the path of weld seam variation, meets tracker to the tracer request of different weld seams.
Space curve welding seam tracker of the present invention its advantage is that:
The present invention is a kind of new spatial curved welding seam tracker for integrating economy and practicability.
The present invention can be widely used in valve built-up welding, auto manufacturing, intermetallic composite coating, hardware household electrical appliances, steel structure, pressure appearance
The fields such as device, machining manufacture, shipbuilding, space flight.
Detailed description of the invention
Fig. 1 space curve welding seam tracker general assembly drawing
One schematic diagram of Fig. 2 side sealing plate
Two schematic diagram of Fig. 3 side sealing plate
Fig. 4 plane welded seam tracks form schematic diagram
Fig. 5 facade weld joint tracking form schematic diagram
Fig. 6 inner corner trim weld joint tracking form schematic diagram
Fig. 7 external corner weld joint tracking form schematic diagram
Marked in the figure:
Tracker shell 1, feeler lever mobile limit switch 2, stop screw 4, feeler lever rotation stopping screw 5, copper ring bearing 6, are compiled spring 3
The mobile indicator lamp holder of code device gear 7, encoder fixed plate 8, encoder 9, feeler lever cylinder rack gear 10, feeler lever rotation stop groove 11, feeler lever
12, the mobile indicator light 13 of feeler lever, longitudinal feeler lever 14, feeler lever connector installation rotation stop hole 15, feeler lever connector anti-return nut 16, spy
Joint element for bar 1, fastening bolt 18, tracker cantilever lever 19, control line corrugate sheath pipe end 20, lateral feeler lever 21, feeler lever
Connector 2 22, circlip 23, bearing 24, weld joint tracking orienting roll wheel carrier rotary sleeve cylinder 25, bearing locating sleeve 26, weld seam with
27 weld joint tracking guide roller 28 of track orienting roll wheel carrier, orienting roll wheel shaft 29, guide roller bearing 30, tracker shell side envelope
Plate 1, longitudinal feeler lever indicator light light tank 32, lateral feeler lever indicator light light tank 33, tracker shell side sealing plate 2 34.
Specific embodiment
Referring to Fig. 1 to Fig. 7, space curve welding seam tracker of the present invention is sealed by tracker outer housing, track device shell body side surface
Six parts such as plate, vertical and horizontal feeler lever, encoder, feeler lever connector and weld joint tracking orienting roll wheel carrier composition.
In the tracker outer housing 1, copper ring bearing 6, longitudinal feeler lever 14 and lateral feeler lever 21 are assembled respectively, is filled respectively
It fitting in copper ring bearing 6, encoder 9 is assemblied in encoder fixed plate 8, and is fixed on 1 intermediate studs of tracker outer housing,
Encoder gear 7 assembles on 9 axis of encoder, and encoder gear 7 is nibbled with longitudinal feeler lever 14 and lateral 21 cylinder rack gear of feeler lever respectively
It closes, the mobile indicator lamp holder 12 of feeler lever is respectively assembled on longitudinal feeler lever 14 and lateral feeler lever 21, and the mobile indicator light 13 of feeler lever assembles
On the mobile indicator lamp holder 12 of feeler lever, stop screw 4 is twisted on longitudinal feeler lever 14 and lateral feeler lever 21 respectively, the mobile limit of feeler lever is opened
Pass 2 and feeler lever rotation stopping screw 5 are respectively assembled on 1 intermediate studs of track device outer housing, and 5 one end of feeler lever rotation stopping screw insertion feeler lever stops
Turn trough 11,3 one end of spring are fixed on track device outer housing 1, and the other end is separately fixed on longitudinal feeler lever 14 and lateral feeler lever 21,
Tracker shell side sealing plate 1 is assemblied on 1 side of tracker outer housing of indicator light, tracker shell side sealing plate
2 28 are assemblied on 1 other side of tracker outer housing, and control line corrugate sheath pipe end 20 is assemblied in tracker outer housing 1
On portion's screw hole, one 17 one end of feeler lever connector is connect with longitudinal feeler lever 14, is fastened by feeler lever connector anti-return nut 16, the other end
It connect with tracker cantilever lever 19, is fastened by fastening bolt 18,2 22 one end of feeler lever connector is connect with lateral feeler lever 21, by visiting
Joint element for bar anti-return nut 16 fastens, and the other end connect with weld joint tracking orienting roll wheel carrier 23, fastened by fastening bolt 18, weld seam
It tracks 27 one end of orienting roll wheel carrier and assembles weld joint tracking guide roller 24, it is outer that the other end assembles the rotation of weld joint tracking orienting roll wheel carrier
Sleeve 25, weld joint tracking orienting roll wheel carrier rotary sleeve cylinder 25 is interior to assemble two bearings 24, assembles positioning sleeve between two bearings 24
Pipe 26, weld joint tracking orienting roll wheel carrier 27 assemble circlip 23 and prevent from falling off.
When the invention works, space curve welding seam tracker one end is connected by the gun rack of track device cantilever and welding robot
It connects, the guide roller of weld joint tracking orienting roll wheel carrier is fallen in weld seam, and in the welding process, the gun rack of welding robot leads to
Space curve welding seam tracker is crossed, the guide roller of weld joint tracking orienting roll wheel carrier is pushed, is rolled along seam track, guide roller
Under guiding in weld seam, vertical and horizontal feeler lever stretches, contract when moving along a straight line, the volume that drive is engaged with the cylinder rack gear on feeler lever
Code device axis gear positive and negative direction rotation, the pulse signal of encoder output forward and backward are real-time transmitted to machine soldering apparatus people control
On device, controller according to the numerical-control motor of vertical and horizontal encoder pulse signal delay and running vertical and horizontal, is welding respectively
When rifle reaches the path position of variation, the position for adjusting welding gun makes welding gun always suitable of the track in the weld seam path tracked
On the position matched, achieve the purpose that the space curve welding seam tracking for realizing real-time vertical and horizontal combination.
Claims (7)
1. space curve welding seam tracker, it is characterised in that: mainly by tracker outer housing, two side seal board of track device outer housing, vertical
It is formed to six parts such as lateral feeler lever, encoder, feeler lever connector and weld joint tracking orienting roll wheel carriers.
2. two feeler levers of vertical and horizontal, two encoders, two and feeler lever cylinder rack gear are assembled in tracker outer housing respectively
The instruction of the mobile limit switches of the gear being assemblied on encoder axis, three feeler levers of engagement, two display feeler lever shift positions
It lamp and hangs over two feeler levers and applies the accessories such as the spring of certain elastic force；Two ends exposed with feeler lever, assemble feeler lever respectively
Connector one and feeler lever connector two, feeler lever connector one connect tracker cantilever, and the tracking of two attachment weld of feeler lever connector is led
Way roller frame, weld joint tracking guide roller are assemblied on weld joint tracking orienting roll wheel carrier.
3. space curve welding seam tracker according to claim 1, it is characterised in that: the two of the vertical and horizontal of tracker
Root feeler lever cylinder rack gear, is engaged with the gear being assemblied in encoder rotary shaft, and the feeler lever of vertical and horizontal is stretched, contracting straight line is transported
When dynamic, the encoder axis gear positive and negative direction rotation engaged with feeler lever cylinder rack gear is driven, encoder output forward and backward
Pulse signal is real-time transmitted on machine soldering apparatus people's controller, and controller prolongs according to vertical and horizontal encoder pulse signal respectively
When drive the numerical-control motors of vertical and horizontal, when welding gun reaches the path position of variation, the accurate position for adjusting welding gun makes to weld
Rifle remains at the position of tracked weld seam path proper fit, realizes the solid space curve weldering of vertical and horizontal combination
Stitch the purpose of tracking.
4. space curve welding seam tracker according to claim 1, it is characterised in that: assemble one in the lower part of longitudinal feeler lever
The mobile limit switch of a feeler lever and the mobile limit switches of two feeler levers are assembled at the rear portion of lateral feeler lever, feeler lever exceeds it in movement
When the range of setting, limit switch is touched, limit switch is connected, and machine soldering apparatus people's controller indicates welding pause, protection
Space curve welding seam tracker is not damaged.
5. space curve welding seam tracker according to claim 1, it is characterised in that: pacify respectively in vertical and horizontal feeler lever
The indicator light of feeler lever shift position is filled, indicator light is through the indicator light light tank in tracker outer housing side sealing plate one, in real time
Indicate the mobile present position of vertical and horizontal feeler lever, it is intuitive to show the location of feeler lever, convenient for pre-adjusting space curve weldering
Stitch the position of tracker setting.
6. space curve welding seam tracker according to claim 1, it is characterised in that: two feeler levers hang a bullet respectively
Spring, the effect of spring are to allow feeler lever when mobile by external force, can be resetted under the effect of elasticity.
7. space curve welding seam tracker according to claim 1, it is characterised in that: feeler lever connector one can be with tracking
The connection of device cantilever lever, adjustable tracker is in place；Feeler lever connector two can be according to the form of weld seam, at three
Direction is connect with weld joint tracking orienting roll wheel carrier, and weld joint tracking orienting roll wheel carrier assembles the guide roller of two kinds of forms respectively, weldering
Seam tracking orienting roll wheel carrier can rotate, and allow guide roller to adapt to the path of weld seam variation, meet tracker to different weld seams
Tracer request.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810406872.6A CN110421234A (en) | 2018-05-01 | 2018-05-01 | Space curve welding seam tracker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810406872.6A CN110421234A (en) | 2018-05-01 | 2018-05-01 | Space curve welding seam tracker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110421234A true CN110421234A (en) | 2019-11-08 |
Family
ID=68407129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810406872.6A Pending CN110421234A (en) | 2018-05-01 | 2018-05-01 | Space curve welding seam tracker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110421234A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114749776A (en) * | 2022-04-25 | 2022-07-15 | 浙江金象科技有限公司 | Encoder type steel cylinder longitudinal circular seam welding seam tracking equipment |
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|---|---|---|---|---|
| GB1585560A (en) * | 1976-06-17 | 1981-03-04 | Unimation Inc | Portable programmable manipulator apparatus |
| WO2004089570A1 (en) * | 2003-04-07 | 2004-10-21 | Fronius International Gmbh | Seam tracking sensor for welding robots |
| KR20060001225A (en) * | 2004-06-30 | 2006-01-06 | 기아자동차주식회사 | Apparatus for correction of welding line |
| CN2858162Y (en) * | 2005-05-24 | 2007-01-17 | 上海电机学院 | Numerical control trace device for large-scale end-capping inner-wall stainless steel pile up welding |
| CN202377651U (en) * | 2011-12-13 | 2012-08-15 | 河野精机(大连)有限公司 | Special ring welding machine capable of automatically tracking welding position |
| CN102785009A (en) * | 2011-05-17 | 2012-11-21 | 厦门思尔特机器人系统有限公司 | Automatically tracking device of welded joint machinery |
| CN104057183A (en) * | 2014-06-16 | 2014-09-24 | 哈尔滨工业大学（威海） | Underwater wet welding seam tracker |
| US20150107381A1 (en) * | 2012-03-02 | 2015-04-23 | Gaztransport Et Technigaz | Orientation device for orientating a sensor probe |
| CN206912529U (en) * | 2017-06-08 | 2018-01-23 | 南通大学 | The three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people |
| CN208600876U (en) * | 2018-05-01 | 2019-03-15 | 北京航天美利达自动焊设备科技有限公司 | Space curve welding seam tracker |
-
2018
- 2018-05-01 CN CN201810406872.6A patent/CN110421234A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1585560A (en) * | 1976-06-17 | 1981-03-04 | Unimation Inc | Portable programmable manipulator apparatus |
| WO2004089570A1 (en) * | 2003-04-07 | 2004-10-21 | Fronius International Gmbh | Seam tracking sensor for welding robots |
| KR20060001225A (en) * | 2004-06-30 | 2006-01-06 | 기아자동차주식회사 | Apparatus for correction of welding line |
| CN2858162Y (en) * | 2005-05-24 | 2007-01-17 | 上海电机学院 | Numerical control trace device for large-scale end-capping inner-wall stainless steel pile up welding |
| CN102785009A (en) * | 2011-05-17 | 2012-11-21 | 厦门思尔特机器人系统有限公司 | Automatically tracking device of welded joint machinery |
| CN202377651U (en) * | 2011-12-13 | 2012-08-15 | 河野精机(大连)有限公司 | Special ring welding machine capable of automatically tracking welding position |
| US20150107381A1 (en) * | 2012-03-02 | 2015-04-23 | Gaztransport Et Technigaz | Orientation device for orientating a sensor probe |
| CN104057183A (en) * | 2014-06-16 | 2014-09-24 | 哈尔滨工业大学（威海） | Underwater wet welding seam tracker |
| CN206912529U (en) * | 2017-06-08 | 2018-01-23 | 南通大学 | The three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people |
| CN208600876U (en) * | 2018-05-01 | 2019-03-15 | 北京航天美利达自动焊设备科技有限公司 | Space curve welding seam tracker |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114749776A (en) * | 2022-04-25 | 2022-07-15 | 浙江金象科技有限公司 | Encoder type steel cylinder longitudinal circular seam welding seam tracking equipment |
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