CN110434510A - A kind of welding equipment based on VR technology - Google Patents
A kind of welding equipment based on VR technology Download PDFInfo
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- CN110434510A CN110434510A CN201910637306.0A CN201910637306A CN110434510A CN 110434510 A CN110434510 A CN 110434510A CN 201910637306 A CN201910637306 A CN 201910637306A CN 110434510 A CN110434510 A CN 110434510A
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- 238000003466 welding Methods 0.000 title claims abstract description 99
- 238000005516 engineering process Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 abstract description 6
- 230000005855 radiation Effects 0.000 abstract description 5
- 230000001788 irregular Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 239000012815 thermoplastic material Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses a kind of welding equipments based on VR technology, it is characterized in that, including, 3D scanner (2) in shell (1), welding wire (4), welding gun (5), controllable mechanical arm (7) and multi-directional ball (8), and control stick (9), wear-type stereoscopic display (10), the 3D scanner (2), multi-directional ball (8) is respectively arranged on shell (1) upper end, the multi-directional ball (8), controllable mechanical arm (7), welding gun (5) is sequentially connected, welding wire (4) set on the controllable mechanical arm (7) is connect with the welding gun (5), the 3D scanner (2) is connected with wear-type stereoscopic display (10), the controllable mechanical arm (7) is connected with external control bar (9).It is combined together by welding technique and VR technology, meets the use demand of the special welding surroundings such as various vacuum, high temperature, high pressure and high radiation.
Description
Technical field
The invention belongs to weld the technical field of instrument, and in particular to a kind of welding equipment based on VR technology.
Background technique
Welding is a basic technology of engineering construction, in a manner of heating, high temperature or high pressure jointing metal or other
Thermoplastic material and a kind of very widely used engineering technology.Traditional field such as daily life, apply building, automobile,
The welding technique application comparative maturity of the industrial circles such as electronics, aviation, still, with the fast development of science and technology, one
The mechanical equipment or electronic equipment to work under a little particular surroundings is also more and more, often forms the welding matter of the weldment of these equipment
The requirement of amount is also very high, and welding surroundings will usually be welded under relatively stringent environmental condition, for example, vacuum, high temperature,
The special welding surroundings such as high pressure, low temperature and high radiation.And in practice, when being welded to the workpiece under such particular surroundings, meeting
Have a bigger simulating chamber, operator wears special work clothes and enters implementation welding, integral device take up space it is bigger,
It is big to environment space demand, and directly there are certain security risks, opposite traditional field to weld for operation, this particular surroundings
Welding also reduces the convenience of operator.
It is existing less to the device or equipment correlation Related product that are welded in weldment under particular surroundings and big
The particular surroundings of part existing product design device application be all it is relatively simple, a variety of particular surroundings can not be applicable in, therefore it is suitable
Answering property is poor, and existing plant automation degree is not also high, and the irregular complicated path of welding of workpiece is difficult to effectively
It realizes.
Further Improvement is still needed to the field of welding devices under particular surroundings.
Summary of the invention
The purpose of the present invention is to solve the above problem, provide it is a kind of suitable for a variety of particular surroundings based on VR technology
Welding equipment, be combined together by welding technique and VR technology, it is special to meet various vacuum, high temperature, high pressure and high radiation etc.
The use demand of different welding surroundings.
In order to achieve the above object of the invention, the invention adopts the following technical scheme:
A kind of welding equipment based on VR technology, comprising: 3D scanner, welding wire, the welding gun, controllable mechanical being set in the housing
Arm and multi-directional ball and control stick, wear-type stereoscopic display, the 3D scanner, multi-directional ball are respectively arranged on shell upper end,
The multi-directional ball, controllable mechanical arm, welding gun are sequentially connected, and are connected set on the welding wire of the controllable mechanical arm and the welding gun
It connects, the 3D scanner is connected with wear-type stereoscopic display, and the controllable mechanical arm is connected with external control bar.
Further, further include confinement ring, the confinement ring to be set to the controllable mechanical arm on the welding wire into
Row limit.
Further, the confinement ring is several, is successively arranged along the length direction of the controllable mechanical arm, control
It makes and keeps the wire feed path of welding wire within a preset range when entire mobile.
Further, the confinement ring is set to the upper side of the controllable mechanical arm.
Further, the 3D scanner corresponds to the welding gun and soldered weldment carries out signal acquisition.
Further, the weldment is placed in the shell.
Further, the controllable mechanical arm is that the mechanical arm of at least two sections is rotatablely connected.
Further, controllable mechanical arm end and the welding gun are rotatablely connected.
Further, further include connecting line, connect between the 3D scanner and the wear-type stereoscopic display by one
It is connected between wiring connection or the multi-directional ball and the external control bar by another connecting line.
Further, the 3D scanner, multi-directional ball are respectively arranged on two corners of the shell upper end；Or the weldering
Rifle is equipped with voltage sensor.
Compared with prior art, the present invention beneficial effect is:
1. a welding equipment can be very good to adapt to the special welding surroundings such as high temperature, high pressure, low temperature, vacuum and radiation, body
Product is smaller, and space occupied is small, remote accurate observation control can be realized to integral solder equipment, operating procedure is simple, control essence
Really, flexibly and easily；
2. manually electronic instrument feedback signal is combined to be controlled, it is easy to implement the welding in irregular complex path, is liberated
The welder faced directly under particular surroundings improves working environment by remotely controlling.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the welding equipment based on VR technology of the present invention.
In figure: 1- shell；2-3D scanner；3- confinement ring；4- welding wire；5- welding gun；6- weldment；7- controllable mechanical arm；
8- multi-directional ball；9- control stick；10- wear-type stereoscopic display；11- connecting line.
Specific embodiment
Below by specific embodiment the technical scheme of the present invention will be further described explanation so that the technical program is more
Add clear, clear.
It is able to satisfy the welding equipment based on VR technology used under particular surroundings to be a kind of as shown in Figure 1, equipment includes: shell
Body frame 1,3D scanner 2, confinement ring 3, welding wire 4, welding gun 5, weldment 6, controllable mechanical arm 7, multi-directional ball 8, control stick 9, head
Formula stereoscopic display 10, connecting line 11 are worn, wherein 1 inner upper end of case frame is equipped with 3D scanner 2, and the one of frame case 1
Angle is equipped with multi-directional ball 8, and what is be connected with multi-directional ball 8 is controllable mechanical arm 7, and 7 end of controllable mechanical arm is equipped with welding gun
5, welding wire 4 is connected at the top of welding gun 5, welding wire 4 controls wire feed path, 3D scanner by the confinement ring 3 on controllable mechanical arm 7
2 are connected by connecting line 11 with wear-type stereoscopic display 10, and controllable mechanical arm 7 passes through connecting line 11 and external control bar 9
It is connected, total tune butt-welding fitting 6 is welded.
As a preferred embodiment, the 3D scanner 2 of the present embodiment is mainly to the weldment 6 inside case frame 1
Signal acquisition is carried out with welding gun 5.
As a preferred embodiment, having several confinement rings 3 on controllable mechanical arm 7, successively along described controllable
The length direction of mechanical arm 7 is arranged, convenient for keeping wire feed path in zone of reasonableness when entire controllable mechanical arm 7 is mobile
It is interior.
Optimal, the confinement ring 3 is set to the upper side of the controllable mechanical arm 7.
As a preferred embodiment, controllable mechanical arm 7 is connect by connecting line 11 with external control stick 9, grasp
Make accurate and flexible and convenient.Controllable mechanical arm 7 is that the mechanical arm of at least two sections is rotatablely connected.Controllable mechanical arm 7
End and the welding gun 5 are rotatablely connected.By length and rotation setting, so that the flexibility of control welding gun is higher, more favorably
The welding for carrying out weldment is controlled in angle.
As a preferred embodiment, the 3D scanner 2 of upper end is worn by connecting line 11 and external in shell 1
Formula stereoscopic display 10 connects, and realizes dynamic data real-time delivery, understands welding gun 5 and weldment 6 under particular surroundings convenient for operator
Relative position situation, and then adjust path of welding in real time.
The wear-type stereoscopic display 10 of the present embodiment is head-mounted display (HMD), i.e. head is aobvious.It is aobvious by various heads,
Optical signalling is sent to eyes, the different-effects such as virtual reality (VR), augmented reality (AR), mixed reality (MR) may be implemented.
Welding equipment based on VR technology of the invention overcomes the spy that Related product application is welded under existing particular surroundings
Different environment is relatively simple, and adaptability has to be strengthened, and the degree of automation is not high, difficult for the irregular complicated path of welding of workpiece
The shortcomings that realize.
Multi-directional ball 8 in the present embodiment can also be using the various universal ball end mechanisms on existing market.
Above-mentioned welding equipment realizes and carries out far distance control welding to workpiece under particular surroundings, is realized using VR technology
Welding under particular surroundings is mainly made of a shell, inner weld parts and external control display portion.Wherein in shell
Portion upper end is equipped with 3D scanner, and one jiao of frame case is equipped with multi-directional ball, and what is be connected with multi-directional ball is controllable mechanical hand
Arm, controllable mechanical arm end are equipped with welding gun, and welding wire is connected at the top of welding gun, and welding wire passes through the constraint on controllable mechanical arm
Ring controls wire feed path, and 3D scanner is connected by connecting line with wear-type stereoscopic display, and controllable mechanical arm passes through connection
Line is connected with external control bar, and total tune butt-welding fitting is welded.The configuration of the present invention is simple, convenient for application, operation is simple,
Welding technique and VR technology are combined together, the special welderings such as vacuum, high temperature, high pressure and high radiation can be overcome to a certain extent
Environment is connect, makes people that can observe and then control welding system well without coming to its border personally, effectively raises particular surroundings
Under pahtfinder hard welding operation feasibility.
The working principle of specific embodiment are as follows: it is special that the shell that designs of the present invention is put into together with associated components therein
In environment, the attached of component to be welded can also be caused it to move to plus dynamical system (such as electric roller or other transport mechanisms) in shell
Closely.When this equipment and proper weldment relative position, operator takes wear-type stereoscopic display, then opens 3D and sweeps
Instrument and control stick are retouched, the work of 3D scanner to the part to be welded and the three-dimensional sampling site of welding gun progress under particular surroundings, and collects processing phase
The point information processing of pass passes to wear-type stereoscopic display at data-signal, wear-type stereoscopic display can receive from
The data-signal that 3D scanner is sent, which is further processed, is reduced into virtual three-dimensional image, and such operator can see at a distance
Working condition and the relative position for observing the weldment and welding gun under particular surroundings, when manipulation worker observes virtual welding situation
When, control stick can be controlled, controllable mechanical arm is controlled, since controllable mechanical arm is connected in multi-directional ball,
So mechanical arm can carry out comprehensive rotation, in conjunction with the cooperative movement of arm joint, can flexibly grasp under manual control
Vertical welding gun realizes the welding in irregular complex path.It may be since visual angle relationship can not be accurate manually when welding gun is close to workpiece
Welding, should there is voltage sensor, the welding arc voltage on real-time monitoring welding gun head, when welding gun head and weldment thus on welding gun
Arc voltage will increase when hypotelorism, and feedback signal gives controllable mechanical arm, is allowed to control welding gun far from weldment, avoids welding gun
It is damaged into workpiece is too deep.Wire feed path in welding process is controlled by the confinement ring on mechanical arm, that is, wire feed
Path is almost exactly the transient shape of mechanical arm, so that controllable mechanical arm is got into smooth so more convenient, but welding wire
Flexibility wants relatively good.
The above are the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited, for those skilled in the art
The deformation and improvement that member's mentality of designing according to the present invention is made, all should be considered as within protection scope of the present invention.More specifically
Ground says, disclose in the application, drawings and claims in the range of, can building block and/or cloth to theme combination layout
Office carries out a variety of variations and modifications.In addition to variations and improvements to the component parts and or layout, for art technology
For personnel, other purposes also be will be apparent.
Claims (10)
1. a kind of welding equipment based on VR technology, which is characterized in that including 3D scanner (2), weldering in shell (1)
Silk (4), welding gun (5), controllable mechanical arm (7) and multi-directional ball (8) and control stick (9), wear-type stereoscopic display (10),
The 3D scanner (2), multi-directional ball (8) are respectively arranged on shell (1) upper end, the multi-directional ball (8), controllable mechanical arm
(7), welding gun (5) is sequentially connected, and the welding wire (4) for being set to the controllable mechanical arm (7) is connect with the welding gun (5), the 3D
Scanner (2) is connected with wear-type stereoscopic display (10), and the controllable mechanical arm (7) is connected with external control bar (9).
2. a kind of welding equipment based on VR technology according to claim 1, which is characterized in that it further include confinement ring (3),
The confinement ring (3) limits the welding wire (4) being set on the controllable mechanical arm (7).
3. a kind of welding equipment based on VR technology according to claim 2, which is characterized in that the confinement ring (3) is
Several, are successively arranged along the length direction of the controllable mechanical arm (7), control and keep welding wire (4) when entire mobile
Wire feed path is within a preset range.
4. a kind of welding equipment based on VR technology according to claim 2 or 3, which is characterized in that the confinement ring (3)
Set on the upper side of the controllable mechanical arm (7).
5. a kind of welding equipment based on VR technology according to claim 1, which is characterized in that the 3D scanner (2)
The corresponding welding gun (5) and soldered weldment (6) carry out signal acquisition.
6. a kind of welding equipment based on VR technology according to claim 5, which is characterized in that the weldment (6) is placed in
In the shell (1).
7. a kind of welding equipment based on VR technology according to claim 1, which is characterized in that the controllable mechanical arm
It (7) is that the mechanical arms of at least two sections is rotatablely connected.
8. a kind of welding equipment based on VR technology according to claim 1, which is characterized in that the controllable mechanical arm
(7) end and the welding gun (5) are rotatablely connected.
9. a kind of welding equipment based on VR technology according to claim 1, which is characterized in that further include connecting line
(11), it is connect between the 3D scanner (2) and the wear-type stereoscopic display (10) by a connecting line (11), Huo Zhesuo
It states and is connect between multi-directional ball (8) and the external control bar (9) by another connecting line (11).
10. a kind of welding equipment based on VR technology according to claim 1, which is characterized in that the 3D scanner
(2), multi-directional ball (8) is respectively arranged on two corners of the shell (1) upper end；Or the welding gun (5) is equipped with voltage induced
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910637306.0A CN110434510A (en) | 2019-07-15 | 2019-07-15 | A kind of welding equipment based on VR technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910637306.0A CN110434510A (en) | 2019-07-15 | 2019-07-15 | A kind of welding equipment based on VR technology |
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| CN110434510A true CN110434510A (en) | 2019-11-12 |
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| CN201910637306.0A Pending CN110434510A (en) | 2019-07-15 | 2019-07-15 | A kind of welding equipment based on VR technology |
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Cited By (2)
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| CN111069702A (en) * | 2019-12-06 | 2020-04-28 | 宁夏天地奔牛实业集团有限公司 | Full-automatic groove system and method |
| WO2022137116A1 (en) * | 2020-12-21 | 2022-06-30 | Liga Pietro | Welding workstation, vision kit for a welding workstation and vision method for welding operations |
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