CN111037190B - CCD auxiliary positioning's welding system - Google Patents
CCD auxiliary positioning's welding system Download PDFInfo
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- CN111037190B CN111037190B CN201911360819.8A CN201911360819A CN111037190B CN 111037190 B CN111037190 B CN 111037190B CN 201911360819 A CN201911360819 A CN 201911360819A CN 111037190 B CN111037190 B CN 111037190B
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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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
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Abstract
The invention relates to a welding system with CCD auxiliary positioning. CCD assistance-localization real-time's welding system is including seeking mechanism, positioning mechanism, CCD positioning system and welding manipulator, seek the initial position that the mechanism is used for looking for the welding seam of annular workpiece through laser, positioning mechanism is used for the centre gripping location annular workpiece, CCD positioning system is used for acquireing through shooing the position coordinate of welding seam, welding manipulator is used for the basis the position coordinate is right the welding seam welds, positioning mechanism includes base, drive assembly and two semi-circular locating plates, be formed with two guide rails on the base, drive assembly includes driving motor and drive gear, driving motor install in the base. The welding system with the CCD auxiliary positioning is convenient for clamping the annular workpiece, and the subsequent welding precision is improved.
Description
Technical Field
The invention relates to a welding system with CCD auxiliary positioning.
Background
In the production and manufacturing process of the annular workpiece, the welding seam of the annular workpiece must be welded to form a closed loop. When welding, the annular workpiece needs to be clamped and positioned firstly, and then the annular workpiece is welded. However, the general positioning mechanism is difficult to clamp the annular workpiece, so that the welding precision is affected.
Disclosure of Invention
In view of the foregoing, there is a need for a CCD assisted positioning welding system that facilitates clamping and positioning of a workpiece.
A welding system with CCD auxiliary positioning comprises a searching mechanism, a positioning mechanism, a CCD positioning system and a welding manipulator, wherein the searching mechanism is used for searching an initial position of a welding seam of an annular workpiece through laser, the positioning mechanism is used for clamping and positioning the annular workpiece, the CCD positioning system is used for acquiring position coordinates of the welding seam through photographing, the welding manipulator is used for welding the welding seam according to the position coordinates, the positioning mechanism comprises a base, a driving assembly and two semicircular positioning plates, two guide rails are formed on the base, the driving assembly comprises a driving motor and a driving gear, the driving motor is installed in the base, the driving gear is connected to an output shaft of the driving motor and positioned above the base, the two semicircular positioning plates are respectively arranged on the two guide rails in a sliding manner, the two semicircular positioning plates are matched with the driving gear, and the driving gear is used for driving the two semicircular positioning plates to be away from each other so as to clamp and position the annular workpiece from the inner side.
In one embodiment, the base is a rectangular frame, and the two guide rails are arranged in parallel.
In one embodiment, the length direction of the guide rail is parallel to the length direction of the base, and both of the two guide rails are convexly arranged on the upper surface of the base.
In one embodiment, the output shaft of the driving motor is inserted into the upper surface of the base and located between the two guide rails.
In one embodiment, the bottom of each of the two semicircular positioning plates is convexly provided with a sliding block, the sliding block is concavely provided with a sliding groove, the sliding block is slidably supported on the upper surface of the base, and the guide rail is clamped in the sliding groove.
In one embodiment, a meshing space is formed between the two semicircular positioning plates, and the driving gear is located in the meshing space.
In one embodiment, the meshing interval extends along the length direction of the base, and meshing racks are formed on one sides, facing the meshing interval, of the two semicircular positioning plates.
In one embodiment, the driving gear is meshed with the meshing racks of the two semicircular positioning plates.
In one embodiment, the weld extends in a radial direction of the annular workpiece and penetrates an inner circumferential edge and an outer circumferential edge of the annular workpiece.
In one embodiment, the two opposite sides of the upper surface of the base are both formed with arc-shaped deslagging chamfers.
When the welding system with the CCD auxiliary positioning function is used, the searching mechanism is firstly utilized to search the initial position of the welding line of the annular workpiece through laser, then the positioning mechanism is utilized to clamp and position the annular workpiece, then the CCD positioning system is utilized to acquire the position coordinate of the welding line through photographing, and then the welding manipulator welds the welding line according to the position coordinate. When the annular workpiece is clamped and positioned, the driving gear is driven by the driving motor to rotate to drive the two semicircular positioning plates to be away from each other so as to clamp and position the annular workpiece from the inner side, namely the annular workpiece is supported and held by the inner periphery of the annular workpiece, so that the annular workpiece is positioned, the annular workpiece is conveniently positioned, the welding of the upper surface and the outer edge surface of the annular workpiece is not influenced, the welding precision can be improved, and then the lower surface and the inner edge surface of the annular workpiece can be welded by the next station.
Drawings
FIG. 1 is a perspective view of a CCD assisted positioning welding system according to an embodiment.
FIG. 2 is a perspective view of another perspective view of the CCD assisted positioning welding system of FIG. 1.
FIG. 3 is an end view of a CCD assisted positioning welding system of an embodiment.
Fig. 4 is a partially enlarged view of a portion a in fig. 2.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention relates to a welding system with CCD auxiliary positioning. For example, the welding system with CCD assisted positioning includes a searching mechanism, a positioning mechanism, a CCD (charged-coupled device) positioning system and a welding manipulator, where the searching mechanism is used to search the initial position of the weld of the annular workpiece by laser. For example, the positioning mechanism is used for clamping and positioning the annular workpiece, the CCD positioning system is used for acquiring the position coordinates of the welding seam through photographing, the welding manipulator is used for welding the welding seam according to the position coordinates, and the positioning mechanism comprises a base, a driving assembly and two semicircular positioning plates. For example, two guide rails are formed on the base, the driving assembly comprises a driving motor and a driving gear, the driving motor is installed in the base, and the driving gear is connected to an output shaft of the driving motor and located above the base. For example, the two semicircular positioning plates are respectively slidably disposed on the two guide rails. For example, the two semicircular positioning plates are both engaged with the driving gear for driving the two semicircular positioning plates away from each other to clamp and position the annular workpiece from the inside.
Referring to fig. 1 to 4, a welding system with CCD assisted positioning includes a searching mechanism (not shown), a positioning mechanism 40, a CCD positioning system (not shown), and a welding manipulator (not shown), where the searching mechanism is used to search an initial position of a weld of an annular workpiece by laser, the positioning mechanism 40 is used to clamp and position the annular workpiece, the CCD positioning system is used to obtain a position coordinate of the weld by photographing, the welding manipulator is used to weld the weld according to the position coordinate, the positioning mechanism 40 includes a base 41, a driving assembly 43, and two semicircular positioning plates 44, two guide rails 411 are formed on the base 41, the driving assembly 43 includes a driving motor 431 and a driving gear 433, the driving motor 431 is installed in the base 41, the driving gear 433 is connected to an output shaft of the driving motor 431 and is located above the base 41, the two semicircular positioning plates 44 are respectively slidably disposed on the two guide rails 411, the two semicircular positioning plates 44 are both matched with the driving gear 433, and the driving gear 433 is used for driving the two semicircular positioning plates 44 to be away from each other so as to clamp and position the annular workpiece from the inner side.
For example, when the welding system with the CCD auxiliary positioning is used, the searching mechanism is first used to search for the initial position of the weld of the annular workpiece by laser, the positioning mechanism 40 is then used to clamp and position the annular workpiece, the CCD positioning system is then used to obtain the position coordinates of the weld by photographing, and the welding manipulator then welds the weld according to the position coordinates. When the annular workpiece is clamped and positioned, the driving gear 433 is driven by the driving motor 431 to rotate to drive the two semicircular positioning plates 44 to be away from each other so as to clamp and position the annular workpiece from the inner side, namely, the annular workpiece is abutted to the inner peripheral edge of the annular workpiece, so that the annular workpiece is positioned, the annular workpiece is conveniently positioned, the welding of the upper surface and the outer peripheral surface of the annular workpiece is not influenced, the welding precision can be improved, and then the lower surface and the inner peripheral surface of the annular workpiece can be welded at the next station.
For example, in order to guide the two semicircular positioning plates 44, the base 41 has a rectangular frame shape, and the two guide rails 411 are disposed in parallel with each other. The length direction of the guide rails 411 is parallel to the length direction of the base 41, and the two guide rails 411 are both convexly arranged on the upper surface of the base 41. An output shaft of the driving motor 431 penetrates through the upper surface of the base 41 and is located between the two guide rails 411. The bottom of the two semicircular positioning plates 44 is convexly provided with sliding blocks, the sliding blocks are concavely provided with sliding grooves, the sliding blocks are slidably supported on the upper surface of the base 41, and the guide rails 411 are clamped in the sliding grooves. The guide rail 411 and the sliding groove are provided to facilitate sliding of the semicircular positioning plate 44, and the sliding block facilitates to stably support the semicircular positioning plate 44, so that the semicircular positioning plate 44 is not inclined to one side, thereby improving sliding stability of the two semicircular positioning plates 44.
For example, in order to facilitate driving the two semicircular positioning plates 44 to move toward each other or to move away from each other, a meshing space 441 is formed between the two semicircular positioning plates 44, and the driving gear 433 is located in the meshing space 441. The engaging space 441 extends along the length direction of the base 41, and engaging racks 442 are formed on both sides of the two semicircular positioning plates 44 facing the engaging space 441. The driving gear 433 is meshed with the meshing racks 442 of the two semicircular positioning plates 44. The welding seam extends along the radial direction of the annular workpiece and penetrates through the inner periphery and the outer periphery of the annular workpiece. Arc-shaped deslagging chamfers 415 are formed on two opposite sides of the upper surface of the base 41. By providing the engaging rack 442 on the two semicircular positioning plates 44, the driving gear 433 can drive the two semicircular positioning plates 44 to synchronously move towards each other or oppositely, so as to improve the movement consistency thereof.
For example, it is particularly important that, in order to support the annular workpiece first and then perform clamping and positioning, the diameter of the semicircular positioning plate 44 is larger than the outer diameter of the annular workpiece, the two semicircular positioning plates 44 are fixedly provided with arc-shaped abutting blocks 445, the two arc-shaped abutting blocks 445 are arranged at intervals, a gap 4455 is formed between the two arc-shaped abutting blocks 445, and the length direction of the gap 4455 is perpendicular to the length direction of the engagement gap 441. The two arc-shaped abutting blocks 445 are respectively adjacent to the middle positions of the two semicircular positioning plates 44, and the two arc-shaped abutting blocks 445 are symmetrically arranged. The two arc-shaped abutting blocks 445 are provided with arc-shaped abutting surfaces 4458 in the directions away from each other, and the radian of the arc-shaped abutting surfaces 4458 is matched with the inner peripheral surface of the annular workpiece. One end of each arc-shaped abutting block 445 is fixed on the corresponding semicircular positioning plate 44, and the other end thereof slidably extends to the upper surface of the other semicircular positioning plate 44. The two semicircular positioning plates 44 are used for supporting the annular workpiece and driving the arc-shaped abutting surfaces 4458 of the two arc-shaped abutting blocks 445 to abut against two opposite sides of the inner periphery of the annular workpiece. By arranging the two arc-shaped abutting blocks 445, the annular workpiece can be supported by the two semicircular positioning plates 44, and then the inner periphery of the annular workpiece can be abutted and positioned by the two arc-shaped abutting blocks 445.
For example, in an actual application scenario of the present application, a width of a weld of the annular workpiece is between a first value and a second value, when the width of the weld is smaller than the first value, a welding material cannot fall into the weld, and therefore the welding material cannot be welded, and when the width of the weld is larger than the second value, the welding material easily falls from below, so that a cold joint is caused, and the welding material cannot be welded. In order to improve the weldability of the annular workpiece, the two semicircular positioning plates 44 are respectively a first positioning plate and a second positioning plate, a position-avoiding groove 448 is concavely arranged at the outer periphery of one end of the first positioning plate, and when the two arc-shaped abutting blocks 445 are far away from each other to clamp the annular workpiece, the welding seam of the annular workpiece is aligned above the position-avoiding groove 448. The positioning mechanism 40 further includes a pressing member (not shown) and a width control assembly 47, and two pressing legs are disposed at the bottom of the pressing member and are respectively pressed on two opposite sides of the weld joint. The width control assembly 47 includes a lift motor and a width control member, the lift motor is mounted on the upper surface of the base 41 and is adjacent to the arc-shaped slag discharge chamfer 415, and the lift motor is located below the first positioning plate. Only when the first positioning plate is moved away to position the ring-shaped workpiece, the lift motor is exposed below the space-avoiding groove 448, so that erroneous operation can be prevented. The width control part is connected to the top end of the output shaft of the lifting motor and is aligned with the welding seam of the annular workpiece. The width control part is made of a high-temperature-resistant metal material. The width control part comprises a bottom plate 471, a cuboid supporting piece 472 and two metal sheet inclined plates 473, the bottom plate 471 is installed on an output shaft of the lifting motor, the cuboid supporting piece 472 vertically extends upwards along the middle of the upper surface of the bottom plate 471, and a triangular tip is formed at the top of the cuboid supporting piece 472. The width of the rectangular parallelepiped supporting member 472 is the first value, and the two metal sheet sloping plates 473 are respectively located on opposite sides of the rectangular parallelepiped supporting member 472. The height of the rectangular parallelepiped supporting member 472 is smaller than the thickness of the annular workpiece, one end of the metal sheet sloping plate 473 is connected to the upper surface of the bottom plate 471, and the other end is connected to the lower portion of the side wall of the rectangular parallelepiped supporting member 472. The metal sheet inclined plates 473 are arranged obliquely relative to the base plate 471, the distance between the two metal sheet inclined plates 473 decreases gradually in the vertical upward direction, the two metal sheet inclined plates 473 can deform when abutting against the annular workpiece, and the distance between the edges of the two metal sheet inclined plates 473, which are far away from each other, is greater than the second value.
When welding is needed, the lifting cylinder is used for driving the width control part to ascend so as to drive the upper part of the cuboid top holder 472 to be inserted into the welding seam until the two opposite sides of the bottom of the welding seam are respectively abutted against the two metal sheet inclined plates 473, so that welding operation is performed. When the width of the welding seam is smaller than a first value, the rectangular parallelepiped supporting member 472 is configured to pull open the welding seam so that the width of the welding seam reaches the first value, so as to perform welding operation. When the width of the weld is greater than a second value, the two sheet metal inclined plates 473 serve to catch the welding material to prevent the welding material from falling below the weld. When the width of the weld is between the first value and the second value, the two metal sheet inclined plates 473 can also be used to block the welding material to prevent the welding material from falling out of the weld. The cuboid roof support 472 is also used to create high temperatures to enable the annular workpiece to be detached from the width control member after the annular workpiece is welded. I.e., the weld material at the bottom of the weld has solidified, but its bottom surface is partially melted by the high temperature of the rectangular parallelepiped top holder 472 for the annular workpiece to break away. The annular workpiece may be subsequently flipped over and the reverse welded. At the moment, because the front surface of the annular workpiece is welded, the welding material cannot fall on the ground, but falls in the welding seam of the annular workpiece and is accumulated on the welding material on the front surface, and the width of the welding seam is larger than or equal to the first numerical value, so that the back surface of the annular workpiece can be normally welded. For example, to facilitate cleaning of the welding slag on the rectangular parallelepiped holder 472, the rectangular parallelepiped holder 472 is also used to form a high temperature to melt the welding slag to clean the welding slag. Specifically, the heat generation principle of the rectangular parallelepiped holding member 472 can be realized by means of a conventional technique in the art.
Through setting up accuse wide subassembly 47 to can control comparatively conveniently the width of annular workpiece, and then improve the welding rate of annular workpiece has improved the welding precision, has also avoided the influence to welding efficiency that the annular workpiece that does not weld brought. In the subsequent operation, in order to surface-level the surface of the annular workpiece, the surface of the annular workpiece may be rolled by a rolling assembly to improve the surface flatness of the annular workpiece.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (1)
1. A welding system with CCD auxiliary positioning is characterized by comprising a searching mechanism and a positioning mechanism, the welding robot comprises a CCD positioning system and a welding manipulator, wherein the searching mechanism is used for searching the initial position of a welding seam of an annular workpiece through laser, the positioning mechanism is used for clamping and positioning the annular workpiece, the CCD positioning system is used for acquiring the position coordinate of the welding seam through photographing, the welding manipulator is used for welding the welding seam according to the position coordinate, the positioning mechanism comprises a base, a driving assembly and two semicircular positioning plates, two guide rails are formed on the base, the driving assembly comprises a driving motor and a driving gear, the driving motor is installed in the base, the driving gear is connected to an output shaft of the driving motor and positioned above the base, the two semicircular positioning plates are respectively arranged on the two guide rails in a sliding mode, the two semicircular positioning plates are both matched with the driving gear, and the driving gear is used for;
the base is in a rectangular frame shape, the two guide rails are arranged in parallel, the length direction of the guide rails is parallel to the length direction of the base, the two guide rails are arranged on the upper surface of the base in a protruding mode, an output shaft of a driving motor penetrates through the upper surface of the base and is positioned between the two guide rails, sliding blocks are arranged at the bottoms of the two semicircular positioning plates in a protruding mode, sliding grooves are formed in the sliding blocks in a concave mode, the sliding blocks are supported on the upper surface of the base in a sliding mode, the guide rails are clamped in the sliding grooves, meshing intervals are formed between the two semicircular positioning plates, a driving gear is positioned in the meshing intervals, the meshing intervals extend along the length direction of the base, meshing racks are formed on one sides, facing the meshing intervals, of the two semicircular positioning plates, the driving gear is meshed with the meshing racks of the two semicircular positioning, arc-shaped deslagging chamfers are formed on two opposite sides of the upper surface of the base;
the diameter of the semicircular positioning plates is larger than the outer diameter of the annular workpiece, arc-shaped abutting blocks are fixedly arranged on the two semicircular positioning plates respectively, the two arc-shaped abutting blocks are arranged at intervals, a crack is formed between the two arc-shaped abutting blocks, the length direction of the crack is vertical to the length direction of the meshing interval, the two arc-shaped abutting blocks are respectively adjacent to the middle positions of the two semicircular positioning plates, the two arc-shaped abutting blocks are symmetrically arranged, arc-shaped abutting surfaces are formed in the directions of the two arc-shaped abutting blocks, which deviate from each other, the radian of the arc-shaped abutting surfaces is matched with the inner peripheral surface of the annular workpiece, one end of each arc-shaped abutting block is fixed on the corresponding semicircular positioning plate, the other end of each arc-shaped abutting block is slidably extended to the upper surface of the, and the arc-shaped abutting surfaces are used for driving the two arc-shaped abutting blocks to abut against two opposite sides of the inner periphery of the annular workpiece;
the two semicircular positioning plates are respectively a first positioning plate and a second positioning plate, the outer periphery of one end of the first positioning plate is concavely provided with a position avoiding groove, and when the two arc-shaped abutting blocks are mutually far away to clamp the annular workpiece, the welding seam of the annular workpiece is aligned to the upper part of the position avoiding groove; the positioning mechanism further comprises a pressing piece and a width control component, two pressing feet are arranged at the bottom of the pressing piece and are used for respectively pressing and holding opposite sides of a welding seam, the width control component comprises a lifting motor and a width control part, the lifting motor is installed on the upper surface of the base and is close to an arc-shaped deslagging chamfer, the lifting motor is located below the first positioning plate, the width control part is connected to the top end of an output shaft of the lifting motor and is aligned to the welding seam of the annular workpiece, the width control part is made of high-temperature-resistant metal materials and comprises a bottom plate, a cuboid supporting piece and two metal sheet inclined plates, the bottom plate is installed on the output shaft of the lifting motor, the cuboid supporting piece extends vertically upwards along the middle part of the upper surface of the bottom plate, a triangular tip is formed at the top of the cuboid supporting piece, the width of the cuboid supporting piece is a first numerical value, and the two metal sheet inclined plates are respectively located on opposite sides of the, the height of the cuboid supporting piece is smaller than the thickness of the annular workpiece, one end of each metal sheet inclined plate is connected with the upper surface of the bottom plate, the other end of each metal sheet inclined plate is connected to the lower portion of the side wall of the cuboid supporting piece, the metal sheet inclined plates are obliquely arranged relative to the bottom plate, the distance between the two metal sheet inclined plates is gradually reduced along the vertical upward direction, the two metal sheet inclined plates can deform when abutting against the annular workpiece, and the distance between the edges, far away from each other, of the two metal sheet inclined plates is larger than a second value;
when welding is needed, the lifting cylinder is used for driving the width control component to ascend so as to drive the upper part of the cuboid jacking piece to be inserted into the welding line until the two opposite sides of the bottom of the welding line are respectively abutted against the two metal sheet inclined plates to implement welding operation;
when the width of the welding seam is smaller than a first value, the cuboid jacking piece is used for poking the welding seam so that the width of the welding seam reaches the first value, and welding operation is carried out;
when the width of the welding seam is larger than a second value, the two metal sheet inclined plates are used for blocking the welding material to prevent the welding material from falling below the welding seam;
when the width of the welding seam is between the first value and the second value, the welding material is blocked by the two metal sheet inclined plates so as to prevent the welding material from falling out of the welding seam;
after the annular workpiece is welded, the cuboid jacking piece is further used for forming high temperature so that the annular workpiece can be separated from the width control component, welding materials at the bottom of a welding line are solidified, partial melting of the bottom surface of the welding line occurs under the high-temperature effect of the cuboid jacking piece so that the annular workpiece can be separated from the welding line, and the cuboid jacking piece is further used for forming high temperature to melt welding slag so as to clean the welding slag.
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| CN201911360819.8A CN111037190B (en) | 2019-12-25 | 2019-12-25 | CCD auxiliary positioning's welding system |
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| CN111037190A (en) | 2020-04-21 |
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Denomination of invention: A CCD aided welding system Effective date of registration: 20220721 Granted publication date: 20210604 Pledgee: Rizhao Bank Co.,Ltd. Wulian sub branch Pledgor: Rizhao Jinte Machinery Co.,Ltd. Registration number: Y2022980010827 |