CN111633364A - Single-side welding and double-side forming welding robot - Google Patents
Single-side welding and double-side forming welding robot Download PDFInfo
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- CN111633364A CN111633364A CN202010525247.0A CN202010525247A CN111633364A CN 111633364 A CN111633364 A CN 111633364A CN 202010525247 A CN202010525247 A CN 202010525247A CN 111633364 A CN111633364 A CN 111633364A
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
- B23K37/0258—Electric supply or control circuits therefor
Abstract
The invention discloses a single-side welding double-side forming welding robot which comprises a base assembly, a three-dimensional moving mechanism, a laser vision tracking sensor, a welding gun clamping mechanism, a welding gun swinging mechanism and a controller, wherein the three-dimensional moving mechanism is arranged on the base assembly and comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, the welding gun clamping mechanism is fixedly connected with the welding gun swinging mechanism, the laser vision tracking sensor is arranged beside the welding gun swinging mechanism, the laser vision tracking sensor scans welding beads in real time to obtain welding bead data of the welding bead track, the groove gap, the groove width and the groove depth, the welding bead data are transmitted to the controller in real time, the controller calls a welding speed, a welding gun swinging parameter, a welding current, a voltage and a multilayer multichannel welding process parameter which are suitable for the current working condition according to the current welding bead data, and automatically adjusts the Y-axis moving mechanism, And the Z-axis moving mechanism enables the welding gun to automatically weld the center of the pilot welding bead.
Description
Technical Field
The invention relates to the field of automatic welding equipment, in particular to a single-side welding and double-side forming welding robot.
Background
In the current nuclear power station construction, a large amount of nuclear island containment vessels are used, and when a SC steel-concrete composite structure and a large steel structural member are constructed on site, a large amount of long-distance welding seams exist, the length is 10 meters, and the long welding bead can reach more than 120 meters. The large-scale component often because the existence of barriers such as component back welding nail, embedded steel bar, etc. during welding, in order to satisfy RT detection I level, personnel can't get into the back and weld or back chipping operation simultaneously, must use the manual work to carry out the double-sided shaping operation of single-side welding, and welding efficiency is poor, and one-time qualification rate is low. The existing welding construction mode has low working efficiency and poor quality consistency, particularly, the requirement on welding technicians is higher in manual single-side welding and double-side forming welding, the RT/UT ray detection qualification rate of the manual single-side welding and double-side forming operation is low, and once the welding is unqualified for two times or more, the component is scrapped and cannot be reworked. In addition, the automatic and semi-automatic welding equipment used in the existing construction is not provided with welding seam tracking equipment, and cannot track and identify the target welding bead, so that improvement is needed.
Disclosure of Invention
The invention aims to provide a welding robot aiming at the problems that the tracking and the identification of a target welding bead cannot be realized by the existing welding robot, and the technical requirements on workers are high and the yield is low when the single-side welding and double-side forming are manually carried out.
In order to achieve the purpose, the invention is realized by the following technical scheme: a single-side welding and double-side forming welding robot is characterized in that: the welding gun comprises a base assembly, a three-dimensional moving mechanism, a laser visual tracking sensor, a welding gun clamping mechanism, a welding gun swinging mechanism and a controller, wherein the three-dimensional moving mechanism is arranged on the base assembly and comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, the X-axis moving mechanism drives the base assembly to move along a robot track, the Y-axis moving mechanism drives a lifting seat to move up and down, the Z-axis moving mechanism is arranged on the lifting seat, the Z-axis moving mechanism drives the laser visual tracking sensor and the welding gun swinging mechanism to move horizontally along the direction vertical to the robot track, the welding gun clamping mechanism is fixedly connected with the welding gun swinging mechanism, the laser visual tracking sensor is arranged beside the welding gun swinging mechanism, the laser visual tracking sensor scans welding beads in real time to obtain welding bead data of the track, the groove gap, the groove width and the groove depth of, and the controller calls a welding speed, a welding gun swing parameter, a welding current, a voltage and a multilayer multi-pass welding process parameter which are suitable for the current working condition according to the current welding data, and automatically adjusts the Y-axis moving mechanism and the Z-axis moving mechanism, so that the welding gun automatically welds the center of the forward welding bead.
The base component comprises a base, fixed side wheels and adjustable side wheels, a bottom groove which is larger than the width of the track is arranged below the base, the fixed side wheels are assembled on the side wall of one side of the bottom groove, the adjustable side wheels are assembled on the side wall of the other side of the bottom groove, and the fixed side wheels and the adjustable side wheels can roll along the side wall of the track and limit the base component.
The further scheme is that the X-axis moving mechanism comprises a motor, a reduction gearbox, a driving gear, a driven gear, a transmission shaft and a roller, the motor and the reduction gearbox are fixedly connected with the base respectively, an output shaft of the motor is connected with the reduction gearbox, an output shaft of the reduction gearbox is connected with the driving gear, the driving gear and the driven gear are 45-degree spiral gear sets, the driven gear is fixedly connected with the transmission shaft, the roller is fixedly connected with the transmission shaft, and the roller can roll along the robot track.
The Y-axis moving mechanism comprises a motor, a synchronous belt pulley transmission mechanism, a lead screw, a guide rail and a lifting seat, the motor drives the lead screw to rotate through a group of synchronous belt pulley transmission mechanisms, the guide rail and the lead screw are arranged in the same direction, the lifting seat is in sliding fit with the guide rail, the lifting seat and the lead screw form a lead screw mechanism, and when the lead screw rotates, the lifting seat moves up and down along the guide rail.
The Z-axis moving mechanism comprises a shell, a fixed seat, a driving motor, a gear rack mechanism and a sliding arm, the fixed seat is fixedly connected with the shell, the driving motor is fixed on the fixed seat, an output shaft of the driving motor is fixedly connected with a gear of the gear rack mechanism, a rack is meshed with a gear, the rack is fixed on the upper surface of the sliding arm, a sliding groove is formed in the fixed seat, the sliding arm is in sliding fit with the sliding groove, the end portion of the sliding arm is fixedly connected with a welding gun swinging mechanism, and a gear limiting block is arranged at the tail end of the rack.
The welding gun swinging mechanism comprises a shell, a guide rail, a driving motor, a screw rod transmission mechanism and a swinging arm, wherein the shell is fixedly connected with a sliding arm of a Z-axis driving mechanism, the driving motor is fixed on the shell, an output shaft of the driving motor is connected with the screw rod transmission mechanism, a nut block is fixedly connected with a sliding block, the sliding block is in sliding fit with the guide rail, the swinging arm is fixedly connected with the sliding block, the screw rod and the guide rail of the screw rod transmission mechanism are arranged along the direction of the Z-axis moving mechanism, the driving motor can drive the swinging arm to move along the Z-axis direction, and a welding gun clamping mechanism is fixedly connected with the swinging arm.
The further proposal is that the welding gun clamping mechanism comprises a fastening component, a longitudinal rod, an angle iron seat, an insulating fixed welding gun sleeve and a locking component of the insulating fixed welding gun sleeve, the fastening component is used for connecting a swing arm and the longitudinal rod, the fastening component comprises a locking clamp plate, a bolt, a fastening nut and a locking handle, the middle part of the locking clamp plate is provided with a through hole, the upper end of the longitudinal rod passes through the through hole, the bolt and the fastening nut can be locked by rotating the locking handle, the locking clamp plate locks the longitudinal rod, the locking clamp plate is fixedly connected with the end part of the swing arm, the lower end of the longitudinal rod is provided with a connector, the lower surface of the connector is provided with a groove, the upper end surface of the angle iron seat is provided with a convex strip matched with the groove of the connector, the convex strip is in sliding fit with the groove, the convex strip is locked and fixed by the bolt after being, and (4) enabling the welding gun to penetrate through the welding gun insulating fixing sleeve, and locking and fixing the welding gun insulating fixing sleeve through the welding gun fixing sleeve locking part.
The laser visual tracking sensor is fixedly arranged on a shell of the welding gun swing mechanism and comprises a linear structure laser and a simulation camera, the linear structure laser emits laser beams to irradiate the surface of a workpiece needing to be welded to generate linear light spots, the simulation camera carries out three-dimensional measurement on the welding seam outline to obtain welding seam data and transmits the welding seam data to the controller in real time, and the controller controls the welding gun to automatically weld the center of a normal welding seam according to the current welding seam data.
The controller is in wireless communication with the three-dimensional moving mechanism, the laser vision tracking sensor, the welding gun clamping mechanism and the welding gun swinging mechanism, and an operator can set welding process parameters during welding on the controller.
The invention has the positive effects that: 1) according to the single-side welding double-side forming welding robot, after welding parameters are set on the controller, corresponding welding parameters can be automatically called according to welding bead parameters obtained by the laser vision tracking sensor, automatic welding is carried out, manual participation is not needed in the welding process, the welding quality is stable, one-time welding is qualified, the welding efficiency is improved, component scrapping caused by multiple times of unqualified welding can be avoided, and the welding cost is saved; 2) the welding process can also be controlled remotely and wirelessly by the controller, and when a fault of losing the welding bead track occurs, the controller can be used for programming welding by using an demonstrating method.
Drawings
Fig. 1 is a schematic structural view (with a housing) of the present invention.
Fig. 2 is a schematic structural view (without a housing) of the present invention.
Fig. 3 is a schematic structural view of the base assembly and the X-axis moving mechanism.
Fig. 4 is a bottom schematic view of the base assembly.
Fig. 5 is a schematic structural view of the Y-axis moving mechanism.
FIG. 6 is a schematic view of the connection structure of the Y-axis moving mechanism, the Z-axis moving mechanism, the welding gun swinging mechanism, the welding gun clamping mechanism and the laser visual tracking sensor.
Fig. 7 is a schematic view of a connection structure of the welding gun swinging mechanism, the welding gun clamping mechanism and the laser vision tracking sensor.
The reference numerals in the figures are as follows: the welding gun positioning device comprises a base assembly 1, a base 11, a fixed side wheel 12, an adjustable side wheel 13, an X-axis moving mechanism 2, a motor 21, a reduction box 22, a driving gear 23, a driven gear 24, a transmission shaft 25, a roller 26, a Y-axis moving mechanism 3, a motor 31, a synchronous pulley transmission mechanism 32, a lead screw 33, a guide rail 34, a lifting seat 35, a Z-axis moving mechanism 4, a shell 41, a fixed seat 42, a driving motor 43, a gear 44, a rack 45, a sliding arm 46, a gear limiting block 47, a laser vision tracking sensor 5, a welding gun clamping mechanism 6, a fastening assembly 61, a locking clamping plate 611, a bolt 612, a fastening nut 613, a locking handle 614, a longitudinal rod 62, a connecting head 621, an angle iron seat 63, a convex strip 631, a welding gun insulation fixed sleeve 64, a welding gun fixed sleeve 65, a welding gun swinging mechanism 7, a shell 71, a driving motor 72, a lead, the robot track 8.
Detailed Description
The technical solutions of the present invention are described clearly and completely by the following embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 7, the single-side welding double-side forming welding robot of the present invention includes a base assembly 1, a three-dimensional moving mechanism, a laser vision tracking sensor 5, a welding gun holding mechanism 6, a welding gun swinging mechanism 7, and a controller.
The base component 1 comprises a base 11, fixed side wheels 12 and adjustable side wheels 13, a bottom groove which is larger than the width of the robot track 8 is arranged below the base 11, the fixed side wheels 12 are assembled on one side wall of the bottom groove, the adjustable side wheels 13 are assembled on the other side wall of the bottom groove, the fixed side wheels 12 and the adjustable side wheels 13 can roll along the side wall of the robot track 8, and the base component 1 is limited.
The three-dimensional moving mechanism is arranged on the base assembly 1 and comprises an X-axis moving mechanism 2, a Y-axis moving mechanism 3 and a Z-axis moving mechanism 4.
The X-axis direction of the X-axis moving mechanism 2 is the direction of the robot rail 8. The X-axis moving mechanism 2 comprises a motor 21, a reduction gearbox 22, a 45-degree spiral gear set, a transmission shaft 25 and a roller 26, the motor 21 and the reduction gearbox 22 are fixedly connected with the base 11 respectively, an output shaft of the motor 21 is connected with the reduction gearbox 22, an output shaft of the reduction gearbox 22 is connected with a driving gear 23 of the 45-degree spiral gear set, a driven gear 24 is fixedly connected with the transmission shaft 25, the roller 26 is fixedly connected with the transmission shaft 25, and the roller 26 can roll along the robot track 8. The base 11 is provided with a through hole corresponding to the driven gear 24 of the 45 ° helical gear set. The motor 21 is a servo motor, a stepping motor or a dc motor with an encoder. The reduction box is a gear reduction box, and after the motor 21 is reduced to a proper rotating speed through the reduction box 22, the motor drives the roller 26 to roll along the robot track 8 through power transmission of a 45-degree spiral gear set, so that the base assembly 1 moves to a target position along the robot track 8 at a certain speed.
The Y-axis moving mechanism 3 is fixedly provided on the base 11. The Y-axis moving mechanism 3 comprises a motor 31, a synchronous pulley transmission mechanism 32, a screw rod 33, a guide rail 34 and a lifting seat 35, the motor 31 drives the screw rod 33 to rotate through the group of synchronous pulley transmission mechanisms 32, the guide rail 34 and the screw rod 33 are arranged in the same direction, the lifting seat 35 is in sliding fit with the guide rail 34, the lifting seat 35 and the screw rod 33 form a screw rod mechanism, and when the screw rod 33 rotates, the lifting seat 35 moves up and down along the guide rail 34. The motor 31 is a servo motor, a stepping motor or a dc motor with an encoder. The motor 31 drives the driving wheel of the synchronous pulley to rotate, the driven wheel is driven to rotate through the synchronous belt, and the driven wheel is fixedly connected with the screw rod 33, so that the screw rod 33 and the driven wheel rotate together, the lifting seat 35 moves up and down along the guide rail 34, and the height of the lifting seat 35 is adjusted.
The Z-axis moving mechanism 4 comprises a shell 41, a fixed seat 42, a driving motor 43, a gear and rack mechanism and a sliding arm 46, wherein the fixed seat 42 is fixedly connected with the shell 41, the driving motor 43 is fixed on the fixed seat 42, an output shaft of the driving motor 43 is fixedly connected with a gear 44 of the gear and rack mechanism, a rack 45 is meshed with the gear 44, the rack 45 is fixed on the upper surface of the sliding arm 46, a sliding groove is formed in the fixed seat 42, the sliding arm 46 is in sliding fit with the sliding groove, the end part of the sliding arm 46 is fixedly connected with the welding gun swinging mechanism 7, and a gear limit block 47 is arranged at the tail end of. The shell 41 is fixedly connected with the lifting seat 35 of the Y-axis moving mechanism 3, and the Y-axis moving mechanism 3 can drive the Z-axis moving mechanism 4 to move up and down. The driving motor 43 of the Z-axis moving mechanism 4 is a servo motor, a stepping motor, or a dc motor with an encoder. The driving motor 43 drives the gear 44 to rotate, so that the rack 45 drives the sliding arm 46 to move along the sliding slot on the fixed seat 42. The slide arm 46 is fixedly connected to the torch swinging mechanism 7, so that the Z-axis moving mechanism 4 can move the torch swinging mechanism 7 horizontally in a direction perpendicular to the robot rail 8.
The welding gun swinging mechanism 7 comprises a shell 71, a guide rail 74, a driving motor 72, a screw rod transmission mechanism and a swinging arm 76, wherein the shell 71 is fixedly connected with the sliding arm 46 of the Z-axis driving mechanism 4, the driving motor 72 is fixed on the shell 71, an output shaft of the driving motor 72 is connected with the screw rod transmission mechanism, a nut block 77 is fixedly connected with a sliding block 75, the sliding block 75 is in sliding fit with the guide rail 74, the swinging arm 76 is fixedly connected with the sliding block 75, a screw rod 73 and the guide rail 74 of the screw rod transmission mechanism are arranged along the direction of the Z-axis moving mechanism, the driving motor 72 can drive the swinging arm 76 to move along the Z-axis direction, and the welding gun clamping mechanism 6 is fixedly connected with the. The drive motor 72 is a servo motor, a stepper motor or a dc motor with an encoder. By the rotation of the driving motor 72, the nut block 77 is moved along the guide rail 74, and the swing arm 76 is moved in the Z-axis direction.
The welding gun clamping mechanism 6 comprises a fastening assembly 61, a longitudinal rod 62, an angle iron seat 63, a welding gun insulating fixing sleeve 64 and a welding gun fixing sleeve locking piece 65, wherein the fastening assembly 61 is used for connecting a swing arm 76 and the longitudinal rod 62, the fastening assembly 61 comprises a locking clamp plate 611, a bolt 612, a fastening nut 613 and a locking handle 614, a through hole is formed in the middle of the locking clamp plate 611, the upper end of the longitudinal rod 62 penetrates through the through hole, the bolt and the fastening nut 613 can be locked by rotating the locking handle 614, the locking clamp plate 611 locks the longitudinal rod 62, the locking clamp plate 611 is fixedly connected with the end part of the swing arm 76, a connector 621 is arranged at the lower end of the longitudinal rod 62, a groove is formed in the lower surface of the connector 621, a convex strip 631 matched with the groove of the connector 621 is arranged on the upper end surface of the angle iron seat 63, the convex strip 631 is in sliding fit with the groove and is locked and fixed by the, after the angle of the welding gun insulating fixing sleeve 64 is adjusted, the welding gun penetrates through the welding gun insulating fixing sleeve 64 and is locked and fixed through the welding gun fixing sleeve locking part 65.
The laser visual tracking sensor 5 is fixedly arranged on a shell 71 of the welding gun swing mechanism 7, the laser visual tracking sensor 5 comprises a linear structure laser and an analog camera, the linear structure laser emits laser beams to irradiate the surface of a workpiece to be welded to generate linear light spots, the analog camera carries out three-dimensional measurement on the welding seam outline to obtain welding seam data such as the track, the groove gap, the groove width, the groove depth and the like of a welding seam, the welding seam data are transmitted to the controller in real time, the controller calls the welding speed, the welding gun swing parameters, the welding current, the welding voltage and the multilayer multichannel welding process parameters which are suitable for the current working condition according to the current welding seam data, and automatically adjusts the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4 to enable the welding gun to automatically weld the center of the welding seam, so that the automatic welding procedures of single-.
The controller is in wireless communication with the three-dimensional moving mechanism, the laser vision tracking sensor 5, the welding gun clamping mechanism 6 and the welding gun swinging mechanism 7, an operator can set welding process parameters during welding on the controller, and when a fault of losing a welding bead track occurs, the controller can use an demonstrating method to carry out programming welding.
According to the single-side welding double-side forming welding robot, after welding parameters are set on the controller, corresponding welding parameters can be automatically called according to welding bead parameters obtained by the laser vision tracking sensor, automatic welding is carried out, manual participation is not needed in the welding process, the welding quality is stable, one-time welding is qualified, the welding efficiency is improved, component scrapping caused by multiple times of unqualified welding can be avoided, and the welding cost is saved. The welding process can also be controlled remotely and wirelessly by the controller, and when a fault of losing the welding bead track occurs, the controller can be used for programming welding by using an demonstrating method.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a two-sided shaping welding robot of single face welding which characterized in that: the welding gun comprises a base assembly, a three-dimensional moving mechanism, a laser visual tracking sensor, a welding gun clamping mechanism, a welding gun swinging mechanism and a controller, wherein the three-dimensional moving mechanism is arranged on the base assembly and comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, the X-axis moving mechanism drives the base assembly to move along a robot track, the Y-axis moving mechanism drives a lifting seat to move up and down, the Z-axis moving mechanism is arranged on the lifting seat, the Z-axis moving mechanism drives the laser visual tracking sensor and the welding gun swinging mechanism to move horizontally along the direction vertical to the robot track, the welding gun clamping mechanism is fixedly connected with the welding gun swinging mechanism, the laser visual tracking sensor is arranged beside the welding gun swinging mechanism, the laser visual tracking sensor scans welding beads in real time to obtain welding bead data of the track, the groove gap, the groove width and the groove depth of, and the controller calls a welding speed, a welding gun swing parameter, a welding current, a voltage and a multilayer multi-pass welding process parameter which are suitable for the current working condition according to the current welding data, and automatically adjusts the Y-axis moving mechanism and the Z-axis moving mechanism, so that the welding gun automatically welds the center of the forward welding bead.
2. The single-side welding double-side forming welding robot according to claim 1, characterized in that: the base component comprises a base, fixed side wheels and adjustable side wheels, a bottom groove which is larger than the width of the track is arranged below the base, the fixed side wheels are assembled on one side wall of the bottom groove, the adjustable side wheels are assembled on the other side wall of the bottom groove, and the fixed side wheels and the adjustable side wheels can roll along the side wall of the track and limit the base component.
3. The single-side welding double-side forming welding robot according to claim 2, characterized in that: the X-axis moving mechanism comprises a motor, a reduction gearbox, a driving gear, a driven gear, a transmission shaft and a roller, the motor and the reduction gearbox are respectively fixedly connected with the base, an output shaft of the motor is connected with the reduction gearbox, an output shaft of the reduction gearbox is connected with the driving gear, the driving gear and the driven gear are 45-degree spiral gear sets, the driven gear is fixedly connected with the transmission shaft, the roller is fixedly connected with the transmission shaft, and the roller can roll along a robot track.
4. The single-side welding double-side forming welding robot according to claim 1, characterized in that: the Y-axis moving mechanism comprises a motor, a synchronous belt pulley transmission mechanism, a lead screw, a guide rail and a lifting seat, the motor drives the lead screw to rotate through a group of synchronous belt pulley transmission mechanisms, the guide rail and the lead screw are arranged in the same direction, the lifting seat is in sliding fit with the guide rail, the lifting seat and the lead screw form a lead screw mechanism, and when the lead screw rotates, the lifting seat moves up and down along the guide rail.
5. The single-side welding double-side forming welding robot according to claim 1, characterized in that: z axle moving mechanism include casing, fixing base, driving motor, rack and pinion mechanism and sliding arm, fixing base and casing fixed connection, driving motor fixes on the fixing base, driving motor's output shaft and rack and pinion fixed connection of rack and pinion mechanism, rack and gear engagement, the rack is fixed on the upper surface of sliding arm, be equipped with the spout on the fixing base, sliding arm and spout sliding fit, the tip and the welder swing mechanism fixed connection of sliding arm are equipped with the gear stopper at the end of rack.
6. The single-side welding double-side forming welding robot according to claim 1, characterized in that: the welding gun swinging mechanism comprises a shell, a guide rail, a driving motor, a screw rod transmission mechanism and a swinging arm, the shell is fixedly connected with a sliding arm of a Z-axis driving mechanism, the driving motor is fixed on the shell, an output shaft of the driving motor is connected with the screw rod transmission mechanism, a nut block is fixedly connected with a sliding block, the sliding block is in sliding fit with the guide rail, the swinging arm is fixedly connected with the sliding block, the screw rod and the guide rail of the screw rod transmission mechanism are arranged along the direction of the Z-axis moving mechanism, the driving motor can drive the swinging arm to move along the Z-axis direction, and a welding gun clamping mechanism is fixedly connected with the swinging arm.
7. The single-side welding double-side forming welding robot according to claim 6, characterized in that: the welding gun clamping mechanism comprises a fastening assembly, a longitudinal rod, an angle iron seat, an insulating welding gun fixing sleeve and a locking member of the insulating welding gun fixing sleeve, wherein the fastening assembly is used for connecting a swing arm and the longitudinal rod, the fastening assembly comprises a locking clamp plate, a bolt, a fastening nut and a locking handle, a through hole is formed in the middle of the locking clamp plate, the upper end of the longitudinal rod penetrates through the through hole, the bolt and the fastening nut can be locked by rotating the locking handle, the locking clamp plate is used for locking the longitudinal rod, the locking clamp plate is fixedly connected with the end part of the swing arm, a connector is arranged at the lower end of the longitudinal rod, a groove is formed in the lower surface of the connector, a convex strip matched with the groove of the connector is arranged on the upper end surface of the angle iron seat, the convex strip is in sliding fit with the groove, the convex strip is locked and fixed by, and (4) enabling the welding gun to penetrate through the welding gun insulating fixing sleeve, and locking and fixing the welding gun insulating fixing sleeve through the welding gun fixing sleeve locking part.
8. The single-side welding double-side forming welding robot according to claim 6, characterized in that: the laser visual tracking sensor is fixedly arranged on a shell of the welding gun swing mechanism and comprises a line structure laser and a simulation camera, the line structure laser emits a laser beam to irradiate the surface of a workpiece to be welded to generate a linear light spot, the simulation camera carries out three-dimensional measurement on the welding seam outline to obtain welding seam data and transmits the welding seam data to the controller in real time, and the controller controls the welding gun to automatically weld the center of the normal welding seam according to the current welding seam data.
9. The single-side welding double-side forming welding robot according to claim 1, characterized in that: the controller is in wireless communication with the three-dimensional moving mechanism, the laser vision tracking sensor, the welding gun clamping mechanism and the welding gun swinging mechanism, and an operator can set welding process parameters during welding on the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010525247.0A CN111633364A (en) | 2020-06-10 | 2020-06-10 | Single-side welding and double-side forming welding robot |
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| CN202010525247.0A CN111633364A (en) | 2020-06-10 | 2020-06-10 | Single-side welding and double-side forming welding robot |
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| CN113695698A (en) * | 2021-08-09 | 2021-11-26 | 南京武挥物联科技有限公司 | Robot welding device for circuit board maintenance and welding method thereof |
| CN114012215A (en) * | 2021-11-23 | 2022-02-08 | 中国兵器工业集团江山重工研究院有限公司 | Titanium alloy long straight welding bead semi-automatic welding device and method |
| CN114801202A (en) * | 2022-06-24 | 2022-07-29 | 天津市奥联特钢结构安装工程有限公司 | Plastic welding movable arm |
| WO2022213374A1 (en) * | 2021-04-09 | 2022-10-13 | 迅智自动化科技股份有限公司 | Welding system and welding parameter optimization method |
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2020
- 2020-06-10 CN CN202010525247.0A patent/CN111633364A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022213374A1 (en) * | 2021-04-09 | 2022-10-13 | 迅智自动化科技股份有限公司 | Welding system and welding parameter optimization method |
| CN113695698A (en) * | 2021-08-09 | 2021-11-26 | 南京武挥物联科技有限公司 | Robot welding device for circuit board maintenance and welding method thereof |
| CN114012215A (en) * | 2021-11-23 | 2022-02-08 | 中国兵器工业集团江山重工研究院有限公司 | Titanium alloy long straight welding bead semi-automatic welding device and method |
| CN114801202A (en) * | 2022-06-24 | 2022-07-29 | 天津市奥联特钢结构安装工程有限公司 | Plastic welding movable arm |
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