CN111822907A - Welding device and welding method - Google Patents
Welding device and welding method Download PDFInfo
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- CN111822907A CN111822907A CN202010681935.6A CN202010681935A CN111822907A CN 111822907 A CN111822907 A CN 111822907A CN 202010681935 A CN202010681935 A CN 202010681935A CN 111822907 A CN111822907 A CN 111822907A
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- trolley
- supporting rod
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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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- 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
Abstract
The invention relates to the technical field of welding, and discloses a welding device and a welding method. The welding device comprises a first trolley, a second trolley, a scanning mechanism and a welding mechanism, wherein the first trolley and the second trolley can move on a workpiece to be welded, the scanning mechanism comprises a first supporting rod, a scanning piece and a first driving piece, two ends of the first supporting rod are respectively supported on the first trolley and the second trolley, the scanning piece is arranged on the first supporting rod, the welding mechanism comprises a second supporting rod, a welding gun assembly and a second driving piece, two ends of the second supporting rod are respectively supported on the first trolley and the second trolley, the second driving piece is used for driving the second supporting rod to move along the preset direction, the welding gun assembly is arranged on the second supporting rod, and a welding gun of the welding gun assembly is used for adjusting the position according to the contour information so as to weld the workpiece to be welded. The welding device is high in welding precision.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding method and a welding device.
Background
In a welding device in the prior art, an operator generally programs a welding path and a welding mode according to a weld contour of a workpiece to be welded, and then transmits a welding program to a welding robot controller, and the welding robot controller controls the welding robot to weld the workpiece to be welded according to a preset program. Because the welding procedure is preset, when the size of the workpiece has deviation or the installation position has error, the welding robot still welds according to the original welding procedure, so that partial welding can be caused, and welding defects are formed.
Disclosure of Invention
Based on the above, the present invention aims to provide a welding device and a welding method, which can ensure that a welding gun assembly always performs welding at a correct position, avoid welding deviation, and have high welding precision.
In order to achieve the purpose, the invention adopts the following technical scheme:
a welding device, comprising:
the first trolley and the second trolley are arranged at intervals along the length direction of a welding seam of the workpiece to be welded and can move on the workpiece to be welded;
the scanning mechanism comprises a first supporting rod, a scanning part and a first driving part, wherein two ends of the first supporting rod are respectively supported on the first trolley and the second trolley, the scanning part is arranged on the first supporting rod and is configured to be capable of scanning contour information of a welding seam on the workpiece to be welded, and the first driving part is used for driving the first supporting rod to move along a preset direction and driving the scanning part to move;
the welding mechanism comprises a second supporting rod, a welding gun assembly and a second driving piece, two ends of the second supporting rod are respectively supported on the first trolley and the second trolley, the second driving piece is used for driving the second supporting rod to move along the preset direction, the welding gun assembly is arranged on the second supporting rod, and a welding gun of the welding gun assembly can be configured to be capable of adjusting the position according to the contour information so as to weld the workpiece to be welded.
As a preferable embodiment of the welding device, the first carriage may selectively fix or release the first support bar, and the second carriage may selectively fix or release the second support bar.
As a preferred scheme of the welding device, the first support rod and the second support rod are in sliding fit with each other along the preset direction, and the preset direction is the length direction of the first support rod or the second support rod.
As a preferable aspect of the welding apparatus, the welding apparatus further includes a first robot configured to detect first position information that the first support bar is supported at one end of the first carriage, and a first position sensor configured to move according to the first position information to clamp the first support bar so that the first support bar is fixed to the first carriage.
As a preferable aspect of the welding apparatus, the welding apparatus further includes a second robot and a second position sensor, the second position sensor is configured to detect second position information of the second support rod supported at one end of the second carriage, and the second robot is configured to move to clamp the second support rod according to the second position information so that the second support rod is fixed to the second carriage.
In order to achieve the above object, the present invention further provides a welding method for welding a workpiece to be welded by the welding device according to any one of the above aspects, including the steps of:
step S1: the first driving piece drives the first supporting rod and drives the scanning piece to move along a preset direction, so that the scanning piece scans the outline information of a welding seam on a workpiece to be welded, and the first trolley and the first supporting rod move synchronously;
step S2: the second driving piece drives the second supporting rod and drives the welding gun assembly to move along the preset direction, so that the welding gun assembly adjusts the position according to the contour information to weld the welding seam, and the second trolley and the second supporting rod move synchronously;
step S3: and repeating the step S1 to the step S2 in sequence until the welding of the workpieces to be welded is completed.
As a preferable scheme of the welding method, between the step S1 and the step S2, the method further includes:
step S2': the first support rod is fixed by the first trolley, and the second support rod is loosened by the second trolley.
As a preferable scheme of the welding method, the step S2' specifically includes:
step S21': a first position sensor of the welding device detects first position information of one end of the first trolley supported by the first support rod;
step S22': a first manipulator of the welding device moves and clamps the first support rod according to the first position information;
step S23': and a second manipulator of the welding device loosens the second supporting rod.
As a preferable embodiment of the welding method, the step S1 is preceded by:
step S0: the first support rod is loosened by the first trolley, and the second support rod is fixed by the second trolley.
As a preferable embodiment of the welding method, the step S0 specifically includes:
step S01: a second position sensor of the welding device detects second position information of one end of the second trolley supported by the second supporting rod;
step S02: one end of the second manipulator clamps the second support rod according to the second position information;
step S03: the first manipulator loosens the first support rod.
The invention has the beneficial effects that:
the invention provides a welding device which comprises a first trolley, a second trolley, a scanning mechanism and a welding mechanism, wherein the scanning mechanism is used for scanning outline information of a welding seam of a workpiece to be welded, the welding mechanism is used for welding the workpiece to be welded according to the outline information of the welding seam scanned by the scanning mechanism, the scanning mechanism is used for scanning the welding seam of the workpiece to be welded in real time, the accurate position of the welding seam of the workpiece to be welded is obtained, and the welding mechanism can always weld at the correct position no matter the size of the workpiece to be welded is deviated or the installation position is wrong, so that the welding defect of the workpiece caused by deviated welding is avoided. Through setting up first dolly and second dolly, both played the supporting role to first bracing piece and second bracing piece, this welding set is at the in-process of work, and scanning mechanism scans the welding seam information and welding mechanism's welding process is gone on in turn, and the alternative motion of first dolly and second dolly makes this welding set can take place the displacement on treating the welding work piece simultaneously to the adaptation is to the welding of the longer work piece of size.
The welding method provided by the invention comprises the steps that firstly, the first driving piece drives the first supporting rod and drives the scanning piece to move along the preset direction, so that the scanning piece scans the welding seam of a workpiece to be welded, then the second driving piece drives the second supporting rod and drives the welding gun assembly to move along the preset direction, so that the welding gun assembly performs welding according to the outline information of the welding seam, the scanning piece scans the welding seam of the workpiece to be welded in real time, the accurate welding seam position of the workpiece to be welded is obtained, and the welding gun assembly can always perform welding at the correct position no matter the size of the workpiece to be welded is deviated or the installation position is wrong, so that the welding defect of the workpiece caused by deviated welding is avoided. The first trolley and the second trolley work alternately, and the first driving piece and the second driving piece work alternately, so that the welding method can adapt to welding of workpieces with long sizes.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a welding apparatus provided in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a welding device according to an embodiment of the present invention during scanning;
fig. 3 is a flow chart of a welding method provided by an embodiment of the invention.
In the figure:
100-a workpiece to be welded;
1-a first trolley; 2-a second trolley;
3-a scanning mechanism; 31-a first support bar; 32-a scanning member;
4-a welding mechanism; 41-a second support bar; 42-a torch assembly.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1-2, the present embodiment provides a welding apparatus, which includes a first cart 1, a second cart 2, a scanning mechanism 3 and a welding mechanism 4, wherein the first cart 1 and the second cart 2 are arranged at intervals along a length direction of a weld of a workpiece 100 to be welded and both can move on the workpiece 100 to be welded, the scanning mechanism 3 includes a first supporting rod 31, a scanning element 32 and a first driving element, two ends of the first supporting rod 31 are respectively supported by the first cart 1 and the second cart 2, the scanning element 32 is arranged on the first supporting rod 31 and configured to scan profile information of the weld on the workpiece 100 to be welded, and the first driving element is used for driving the first supporting rod 31 to move along a preset direction and driving the scanning element 32 to move; the welding mechanism 4 includes a second support rod 41, a welding gun assembly 42 and a second driving member, two ends of the second support rod 41 are respectively supported on the first trolley 1 and the second trolley 2, the second driving member is used for driving the second support rod 41 to move along a preset direction, the welding gun assembly 42 is disposed on the second support rod 41, and a welding gun of the welding gun assembly 42 is configured to be capable of adjusting a position according to the contour information so as to weld the workpiece 100 to be welded. The first driving part is a first driving cylinder, and the second driving part is a second driving cylinder.
In the welding device provided by this embodiment, the scanning mechanism 3 is used for scanning the outline information of the weld seam of the workpiece 100 to be welded, the welding mechanism 4 welds the workpiece 100 to be welded according to the outline information of the weld seam scanned by the scanning mechanism 3, the scanning mechanism 3 scans the weld seam of the workpiece 100 to be welded in real time, and the accurate weld seam position of the workpiece 100 to be welded is obtained, and no matter the size of the workpiece 100 to be welded has deviation or the installation position has error, the welding mechanism 4 can always weld at the correct position, thereby avoiding the workpiece from welding defects caused by partial welding. By arranging the first trolley 1 and the second trolley 2, the first supporting rod 31 and the second supporting rod 41 are supported by the first trolley 1 and the second trolley 2, in the working process of the welding device, the scanning mechanism 3 scans the welding seam information and the welding process of the welding mechanism 4 are performed alternately, and meanwhile, the first trolley 1 and the second trolley 2 move alternately, so that the welding device can displace on a workpiece 100 to be welded to adapt to the welding of the workpiece with a longer size.
It should be noted that the welding gun assembly 42 includes a welding gun, a lifting driving portion and a horizontal driving portion, an output end of the horizontal driving portion is connected to the lifting driving portion, an output end of the lifting driving portion is connected to the welding gun, the horizontal driving portion is used for driving the lifting driving portion and the welding gun to move along the width direction of the second support rod 41, the lifting driving portion is used for driving the welding gun to lift in the vertical direction, and by setting the lifting driving portion and the horizontal driving portion, the welding gun is enabled to perform position adjustment according to the contour information of the welding seam scanned by the scanning member 32, so as to achieve the effect of complete welding.
Preferably, the welding device further includes a controller, the controller is electrically connected to the scanning element 32 and the welding gun assembly 42, respectively, the contour information of the welding seam on the workpiece 100 to be welded scanned by the scanning element 32 can be transmitted into the controller, the controller plans the welding mode and path according to the contour information, and controls the welding gun assembly 42 to weld the workpiece 100 to be welded according to the planned welding mode and path. Wherein the welding gun assembly 42 can adjust the position of the welding gun according to the instructions of the controller to realize the accurate welding of the workpiece 100 to be welded.
Further, the first carriage 1 can selectively fix or release the first support bar 31, and the second carriage 2 can selectively fix or release the second support bar 41. When the workpiece 100 to be welded is welded, the second driving element drives the second supporting rod 41 to slide along the length direction of the first supporting rod 31, if the second trolley 2 is fixed to the second supporting rod 41, the second trolley 2 will shake when moving on the workpiece 100 to be welded due to the uneven surface of the workpiece 100 to be welded, and the second trolley 2 will shake to cause the position of the second supporting rod 41 to shift, so that the welding gun assembly 42 cannot weld according to the scanning result of the scanning element 32, and the welding effect is affected. Therefore, when the workpiece 100 to be welded is welded, the second driving member drives the second support rod 41 to move, at this time, the second carriage 2 is not fixed to the second support rod 41, the second carriage 2 and the second support rod 41 move independently, the second support rod 41 cannot deviate due to the shaking of the second carriage 2, and the welding precision is high. Similarly, in order to avoid the scanning component 32 from shifting the position of the scanning component 32 due to the first trolley 1 swinging in the scanning process, when the workpiece 100 to be welded is scanned, the first driving component drives the first supporting rod 31 to move, at this time, the first trolley 1 is not fixed to the first supporting rod 31, the first trolley 1 and the first supporting rod 31 move independently, and the first supporting rod 31 does not shift the position due to the first trolley 1 swinging.
Further, the first support rod 31 and the second support rod 41 are slidably engaged with each other along a predetermined direction, which is a length direction of the first support rod 31 or the second support rod 41, and the first support rod 31 and the second support rod 41 are parallel to each other. In this way, when the workpiece 100 to be welded is scanned, the first trolley 1 is not fixed to the first support rod 31, the second trolley 2 is fixed to the second support rod 41, and when the first driving element drives the first support rod 31 to move, the first support rod 31 can slide along the length direction of the second support rod 41, at this time, the second trolley 2 and the second support rod 41 are both fixed to the workpiece 100 to be welded, so that guidance can be provided for the movement of the first support rod 31, and the stability of the movement process of the first support rod 31 can be ensured; when a workpiece 100 to be welded is welded, the first trolley 1 is fixed to the first supporting rod 31, the second trolley 2 is not fixed to the second supporting rod 41, and when the second driving part drives the second supporting rod 41 to move, the second supporting rod 41 can slide along the length direction of the first supporting rod 31, at this time, the first trolley 1 and the first supporting rod 31 are both fixed to the workpiece 100 to be welded, so that guidance can be provided for the movement of the second supporting rod 41, and the stability of the movement process of the second supporting rod 41 is ensured.
Preferably, the scanning mechanism 3 further includes a third driving element, the third driving element is disposed on the first supporting rod 31, an output end of the third driving element is connected to the scanning element 32, and is configured to drive the scanning element 32 to slide along the width direction of the first supporting rod 31, and the scanning element 32 moves along the direction perpendicular to the length direction of the weld seam, so that the position of the scanning element 32 can be adjusted, and the scanning accuracy is improved. Through mutually supporting of first driving piece and third driving piece, can realize that scanning piece 32 treats the complete scanning of weld joint on the welding workpiece 100, through mutually supporting of scanning mechanism 3 and welding mechanism 4, can realize carrying out welded effect to crooked welding seam, the commonality is stronger. The third driving piece is specifically a third driving cylinder.
Further, the welding apparatus further includes a first robot configured to detect first position information that the first support bar 31 is supported at one end of the first carriage 1, and a first position sensor configured to move to clamp the first support bar 31 according to the first position information so that the first support bar 31 is fixed to the first carriage 1. Because the first trolley 1 is easy to shake when moving on the workpiece 100 to be welded, when the first trolley 1 is fixed again after the first supporting rod 31 is loosened, the first supporting rod 31 may not be fixed at the same position of the first trolley 1, and by arranging the first manipulator and the first position sensor on the first trolley 1, the first manipulator needs to fix the first supporting rod 31 again each time, the chuck position of the first manipulator can be timely adjusted according to the first position information, detected by the first position sensor, of the first supporting rod 31 supported at one end of the first trolley 1, so as to accurately clamp the first supporting rod 31.
Further, the welding apparatus further includes a second robot and a second position sensor, the second position sensor is configured to detect second position information that the second support rod 41 is supported at one end of the second carriage 2, and the second robot is configured to move to clamp the second support rod 41 according to the second position information, so that the second support rod 41 is fixed on the second carriage 2. Because the second trolley 2 is easy to shake when moving on the workpiece 100 to be welded, when the second trolley 2 is fixed after the second support rod 41 is loosened, the second support rod 41 may not be fixed at the same position of the second trolley 2, and by arranging the second manipulator and the second position sensor on the second trolley 2, the second manipulator needs to fix the second support rod 41 again each time, the chuck position of the second manipulator can be timely adjusted according to the second position information of the second support rod 41, which is detected by the second position sensor, supported at one end of the second trolley 2, so as to accurately clamp the second support rod 41.
Wherein, first manipulator and second manipulator all specifically are six manipulators, can provide higher production motion flexibility.
As shown in fig. 3, the present embodiment also provides a welding method for welding a workpiece 100 to be welded by the welding apparatus, the welding method including the steps of:
step S1: the first driving member drives the first supporting rod 31 and drives the scanning member 32 to move along a preset direction, so that the scanning member 32 scans the profile information of a welding seam on the workpiece 100 to be welded, and the first trolley 1 and the first supporting rod 31 move synchronously;
step S2: the second driving piece drives the second support rod 41 and drives the welding gun assembly 42 to move along the preset direction, so that the welding gun assembly 42 adjusts the position according to the contour information to weld a weld joint, and the second trolley 2 and the second support rod 41 synchronously move;
step S3: and repeating the steps S1-S2 in sequence until the welding of the workpiece to be welded 100 is completed.
In the welding method provided by this embodiment, first, the first driving element drives the first supporting rod 31 and drives the scanning element 32 to move along the preset direction, so that the scanning element 32 scans the weld seam of the workpiece 100 to be welded, then the second driving element drives the second supporting rod 41 and drives the welding gun assembly 42 to move along the preset direction, so that the welding gun assembly 42 performs welding according to the contour information of the weld seam, the weld seam of the workpiece 100 to be welded is scanned in real time by the scanning element 32, so as to obtain the accurate position of the weld seam of the workpiece 100 to be welded, and the welding gun assembly 42 can always perform welding at the correct position no matter the size of the workpiece 100 to be welded has a deviation or an installation position has an error, thereby avoiding the occurrence of welding defects in the workpiece due. The first trolley 1 and the second trolley 2 and the first driving piece and the second driving piece work alternately, so that the welding method can adapt to welding of workpieces with longer sizes.
Further, between the step S1 and the step S2, the method further includes:
step S2': the first trolley 1 fixes the first support rod 31, and the second trolley 2 loosens the second support rod 41.
Due to the fact that the second trolley 2 is prone to shaking when moving on the workpiece 100 to be welded, the situation that the second trolley 2 shakes to cause the position of the second supporting rod 41 to deviate can be avoided, the welding gun assembly 42 can weld according to the scanning result of the scanning piece 32, and welding accuracy is high.
Further, step S2' specifically includes:
step S21': the first position sensor detects first position information of one end of the first trolley 1 supported by the first support rod 31;
step S22': the first manipulator moves and clamps the first support rod 31 according to the first position information;
step S23': the second robot releases the second support bar 41.
Through the mutual cooperation of the first manipulator and the first position sensor, even if the first trolley 1 shakes during the movement on the workpiece 100 to be welded, which causes the relative position between the first supporting rod 31 and the first trolley 1 to change, the first manipulator can also accurately clamp the first supporting rod 31.
Further, step S1 is preceded by:
step S0: the first trolley 1 loosens the first support rod 31 and the second trolley 2 fixes the second support rod 41.
Due to the fact that the first trolley 1 is prone to shaking when moving on the workpiece 100 to be welded, the situation that the position of the first supporting rod 31 is deviated due to the shaking of the first trolley 1 can be avoided, and the scanning piece 32 cannot accurately scan the outline information of the welding seam on the workpiece 100 to be welded.
Further, step S0 specifically includes:
step S01: the second position sensor detects second position information of one end of the second trolley 2 supported by the second support rod 41;
step S02: the second manipulator moves and clamps the second support rod 41 according to the second position information;
step S03: the first manipulator releases the first support bar 31.
Through the mutual cooperation of the second manipulator and the second position sensor, even if the second trolley 2 shakes when moving on the workpiece 100 to be welded, the relative position between the second support rod 41 and the second trolley 2 changes, and the second manipulator can also accurately clamp the second support rod 41.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A welding device, comprising:
the welding device comprises a first trolley (1) and a second trolley (2), wherein the first trolley and the second trolley are arranged at intervals along the length direction of a welding line of a workpiece (100) to be welded and can move on the workpiece (100) to be welded;
the scanning mechanism (3) comprises a first supporting rod (31), a scanning piece (32) and a first driving piece, two ends of the first supporting rod (31) are respectively supported on the first trolley (1) and the second trolley (2), the scanning piece (32) is arranged on the first supporting rod (31) and is configured to be capable of scanning contour information of a welding seam on the workpiece (100) to be welded, and the first driving piece is used for driving the first supporting rod (31) to move along a preset direction and driving the scanning piece (32) to move;
the welding mechanism (4) comprises a second supporting rod (41), a welding gun assembly (42) and a second driving piece, two ends of the second supporting rod (41) are respectively supported on the first trolley (1) and the second trolley (2), the second driving piece is used for driving the second supporting rod (41) to move along the preset direction, the welding gun assembly (42) is arranged on the second supporting rod (41), and a welding gun of the welding gun assembly (42) can be adjusted in position according to the contour information so as to weld the workpiece (100) to be welded.
2. Welding device according to claim 1, wherein said first trolley (1) is able to selectively fix or release said first support bar (31) and said second trolley (2) is able to selectively fix or release said second support bar (41).
3. Welding device according to claim 2, wherein said first support bar (31) and said second support bar (41) are mutually sliding fitted along said preset direction, said preset direction being the length direction of said first support bar (31) or said second support bar (41).
4. Welding device according to claim 2, characterized in that it further comprises a first manipulator and a first position sensor, said first position sensor being configured to detect first position information of the first support bar (31) supported at one end of the first trolley (1), said first manipulator being configured to move to grip the first support bar (31) according to said first position information in order to fix the first support bar (31) to the first trolley (1).
5. The welding device according to claim 2, characterized in that it further comprises a second robot and a second position sensor, said second position sensor being configured to detect second position information of said second support bar (41) supported at one end of said second carriage (2), said second robot being configured to move to clamp said second support bar (41) according to said second position information to fix said second support bar (41) on said second carriage (2).
6. A welding method for welding a work to be welded by the welding apparatus according to any one of claims 1 to 5, comprising the steps of:
step S1: the first driving piece drives the first supporting rod (31) and drives the scanning piece (32) to move along a preset direction, so that the scanning piece (32) scans the outline information of a welding seam on the workpiece (100) to be welded, and the first trolley (1) and the first supporting rod (31) move synchronously;
step S2: the second driving piece drives the second supporting rod (41) and drives the welding gun assembly (42) to move along the preset direction, so that the welding gun assembly (42) adjusts the position according to the contour information to weld the welding seam, and the second trolley (2) and the second supporting rod (41) synchronously move;
step S3: and repeating the step S1 to the step S2 in sequence until the welding of the workpiece (100) to be welded is completed.
7. The welding method of claim 6, further comprising, between the step S1 and the step S2:
step S2': the first trolley (1) fixes the first supporting rod (31), and the second trolley (2) loosens the second supporting rod (41).
8. The welding method according to claim 7, characterized in that said step S2' comprises in particular:
step S21': a first position sensor of the welding device detects first position information that the first support rod (31) is supported at one end of the first trolley (1);
step S22': a first manipulator of the welding device moves and clamps the first support rod (31) according to the first position information;
step S23': the second manipulator of the welding device loosens the second support bar (41).
9. The welding method according to claim 6, characterized in that the step S1 is preceded by:
step S0: the first trolley (1) loosens the first support rod (31), and the second trolley (2) fixes the second support rod (41).
10. The welding method according to claim 9, characterized in that said step S0 specifically comprises:
step S01: a second position sensor of the welding device detects second position information of one end of the second trolley (2) supported by the second support rod (41);
step S02: the second manipulator moves and clamps the second support rod (41) according to the second position information;
step S03: the first manipulator releases the first support rod (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010681935.6A CN111822907A (en) | 2020-07-15 | 2020-07-15 | Welding device and welding method |
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|---|---|---|---|---|
| US4356378A (en) * | 1978-11-25 | 1982-10-26 | Carl Cloos Schweisstechnik Gmbh | Apparatus for automatically guiding a welding gun along a programmed welding seam |
| US4577796A (en) * | 1984-10-10 | 1986-03-25 | Kaiser Steel Corporation | Method and apparatus for tracking seam welds on pipes and the like |
| CN104858575A (en) * | 2015-05-04 | 2015-08-26 | 绍兴汉立工业自动化科技有限公司 | Container top reinforced plate automatic welding device with three dimensional weld recognition |
| CN109530866A (en) * | 2019-01-16 | 2019-03-29 | 绍兴汉立工业自动化科技有限公司 | A kind of container lintel welding method of band three-dimensional weld seam recognition |
| CN208945433U (en) * | 2018-09-26 | 2019-06-07 | 驻马店大力天骏专用汽车制造有限公司 | A kind of aluminum alloy piping welding equipment |
| CN111390335A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for plate splicing welding of container |
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2020
- 2020-07-15 CN CN202010681935.6A patent/CN111822907A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4356378A (en) * | 1978-11-25 | 1982-10-26 | Carl Cloos Schweisstechnik Gmbh | Apparatus for automatically guiding a welding gun along a programmed welding seam |
| US4577796A (en) * | 1984-10-10 | 1986-03-25 | Kaiser Steel Corporation | Method and apparatus for tracking seam welds on pipes and the like |
| CN104858575A (en) * | 2015-05-04 | 2015-08-26 | 绍兴汉立工业自动化科技有限公司 | Container top reinforced plate automatic welding device with three dimensional weld recognition |
| CN208945433U (en) * | 2018-09-26 | 2019-06-07 | 驻马店大力天骏专用汽车制造有限公司 | A kind of aluminum alloy piping welding equipment |
| CN109530866A (en) * | 2019-01-16 | 2019-03-29 | 绍兴汉立工业自动化科技有限公司 | A kind of container lintel welding method of band three-dimensional weld seam recognition |
| CN111390335A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for plate splicing welding of container |
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