CN112676726A - Automatic welding device for lower side door and welding method and application thereof - Google Patents
Automatic welding device for lower side door and welding method and application thereof Download PDFInfo
- Publication number
- CN112676726A CN112676726A CN202011570488.3A CN202011570488A CN112676726A CN 112676726 A CN112676726 A CN 112676726A CN 202011570488 A CN202011570488 A CN 202011570488A CN 112676726 A CN112676726 A CN 112676726A
- Authority
- CN
- China
- Prior art keywords
- welding
- lower side
- side door
- laser
- clamping cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Laser Beam Processing (AREA)
Abstract
The invention relates to the technical field of lower side door welding, in particular to an automatic lower side door welding device and a welding method and application thereof. The device comprises a welding table, a conveying mechanism, a measuring mechanism, a clamping mechanism and a welding mechanism, wherein the conveying mechanism, the measuring mechanism, the clamping mechanism and the welding mechanism are arranged on the welding table; the automatic welding machine is characterized in that the conveying mechanism is used for automatically conveying a lower side door, the measuring mechanism is arranged on the side portion of the conveying mechanism and used for measuring the size of the lower side door in the conveying process, the clamping mechanism is arranged on the upper end face of the welding table and used for fixing the position of the lower side door before welding, and the welding mechanism is arranged on two sides of the welding table.
Description
Technical Field
The invention relates to the technical field of lower side door welding, in particular to an automatic lower side door welding device and a welding method and application thereof.
Background
Arc welding is to use electric arc as a heat source and convert electric energy into heat energy and mechanical energy required by welding by utilizing the physical phenomenon of air discharge so as to achieve the purpose of connecting metals. The main methods are shielded metal arc welding, submerged arc welding, gas shielded welding and the like, which are the most widely and important fusion welding methods and account for more than 60 percent of the total welding production.
In the actual production process, most of electric welding work is completed through manual positioning and hand-held welding. However, the manual positioning precision is not accurate enough, deviation is easy to occur in manual welding, the consistency of a workpiece welding finished product is poor, the working time of a product is prolonged, the probability of defective products is increased, a lot of workpieces need secondary reworking, the production cost is increased, the production efficiency is low, the working environment is poor, the labor intensity is high, and the production progress of the whole enterprise is influenced. Therefore, some enterprises can introduce automatic robots to weld, so as to improve the working efficiency.
However, the situations of workpiece clamping deviation, sheet metal part thermal deformation and the like frequently occur in the welding process of the automatic robot, so that manual repair welding is required after the robot performs welding, not only is the labor cost saved, but also the product repair rate is increased.
Disclosure of Invention
The invention aims to overcome the existing defects and provides an automatic welding device for a lower side door, a welding method and application thereof, which can realize real-time accurate positioning of a welding seam, high-quality welding of each welding bead, reduction of working errors and labor intensity of workers, improvement of working efficiency while ensuring product quality and effectively solve the problems in the background technology.
In order to achieve the above purpose, the invention provides the following technical scheme that the automatic welding device for the lower side door comprises a welding table, a conveying mechanism, a measuring mechanism, a clamping mechanism and a welding mechanism, wherein the conveying mechanism, the measuring mechanism, the clamping mechanism and the welding mechanism are arranged on the welding table; the conveying mechanism is used for automatically conveying the lower side door, the measuring mechanism is arranged on the side portion of the conveying mechanism and used for measuring the size of the lower side door in the conveying process, the clamping mechanism is arranged on the upper end face of the welding table and used for fixing the position of the lower side door before welding, and the welding mechanism is arranged on two sides of the welding table;
the welding mechanism is provided with a double-gun synchronous laser tracking assembly;
the double-gun synchronous laser tracking assembly comprises a welding execution assembly and a laser welding seam tracking sensor;
the welding executing assembly is arranged on a Y axis of the welding mechanism and comprises a moving module fixed on the Y axis, a moving welding gun arranged on the moving module and a fixed welding gun fixed on the free end of the Y axis, wherein the moving welding gun moves along with the moving module, and the fixed welding gun moves along with the Y axis.
Further, in the above-mentioned case,
the laser welding seam tracking sensor is arranged on one side of the welding mechanism and used for detecting and tracking a welding seam in real time, the output end of the laser welding seam tracking sensor is electrically connected with the input end of an external single chip microcomputer, the output end of the external single chip microcomputer is electrically connected with the input end of the welding execution assembly, and the input end of the external single chip microcomputer is electrically connected with the output end of an external power supply.
Furthermore, the conveying mechanism is a conveying line arranged on the upper end face of the welding table.
Further, clamping mechanism includes vertical die clamping cylinder, horizontal die clamping cylinder and side direction die clamping cylinder, vertical die clamping cylinder locates the lower terminal surface of welding bench, horizontal die clamping cylinder locates the up end of welding bench and is connected with vertical cylinder, one side of welding bench is located to side direction die clamping cylinder, vertical die clamping cylinder is used for driving horizontal die clamping cylinder and reciprocates, horizontal die clamping cylinder is used for the length direction location clamp tight of side door down, side direction die clamping cylinder is used for the width direction location clamp tight of side door down, vertical die clamping cylinder, horizontal die clamping cylinder and side direction die clamping cylinder all are connected with the output electricity of outside singlechip.
Furthermore, measuring mechanism includes laser displacement sensor and photoelectric sensor, the top of welding bench is all located to laser displacement sensor and photoelectric sensor, and laser displacement sensor and photoelectric sensor's output is connected with the input electricity of outside singlechip, and the output of external power source is connected to the input electricity of outside singlechip.
Furthermore, the clamping device comprises a clamping auxiliary mechanism, wherein the clamping auxiliary mechanism is arranged on a cylinder telescopic rod of a transverse clamping cylinder and a lateral clamping cylinder, and comprises a sigma-shaped fixing frame used for fixing the cylinder and the clamping auxiliary mechanism, and two groups of connecting rod assemblies symmetrically arranged on the upper side and the lower side of the fixing frame, wherein each connecting rod assembly comprises a first straight rod and a second straight rod which are connected with the fixing frame in a rotating manner, right-angle rods which are connected with the first straight rod and the second straight rod in a rotating manner, and rotating rods which are respectively connected with the center of the second straight rod and the cylinder telescopic rod in a rotating manner.
Furthermore, a cylindrical through hole is formed in the center of the fixing frame and used for accommodating an expansion rod of the air cylinder, a right-angle position of the right-angle rod is rotatably connected with the second straight rod, and the tail end of one right-angle side of the right-angle rod is rotatably connected with the first straight rod; the distance between the first straight rod and the connecting point of the second straight rod and the fixing frame is equal to the length of a right-angle edge where a right-angle rod connected with the first straight rod is located, and a spring clamping pad is arranged at the free end of the right-angle rod.
The invention also comprises a welding method of the automatic welding device for the lower side door, which comprises the following steps:
(1) the lower side door is conveyed by a conveying mechanism;
(2) in the conveying process, the measuring mechanism is used for positioning and measuring the lower side door;
(3) after the lower side door is conveyed to a designated position, the clamping mechanism is started to clamp the lower side door;
(4) and the welding mechanism performs tracking and locating welding on the welding seam.
Further, the welding method comprises the following specific steps:
(11) the lower side door is conveyed forwards through the conveying line on the welding table, when passing through a first photoelectric sensor in the photoelectric sensors, the speed is reduced, when passing through a second photoelectric sensor in the photoelectric sensors, the conveying line stops conveying, and the lower side door stops conveying;
(12) the external single chip microcomputer calculates the time of the lower side door passing through the two photoelectric sensors and the running speed of the conveying line to obtain the size of the lower side door in the length direction; measuring the width of the lower side door by a laser displacement sensor;
(13) the external single chip microcomputer transmits data of the size of the lower side door to the clamping mechanism, the clamping mechanism drives the transverse clamping cylinder to move up and down through the longitudinal clamping cylinder, the transverse clamping cylinder clamps the transverse length, the lateral clamping cylinder extends out, the width of the lower side door is positioned and clamped, and the accurate positioning of the width direction of the lower side door is realized;
(14) the welding mechanism calls a welding program stored in advance, welding is carried out through the double-gun synchronous laser tracking assembly, the laser welding seam tracking sensor monitors the welding seam in real time and transmits the welding seam to the external single chip microcomputer, the external single chip microcomputer sends the monitoring structure to the welding execution assembly, the fixed welding gun moves along with the Y axis, the movable welding gun moves along with the moving module on the Y axis, and the laser welding seam tracking sensor is matched to achieve correction of a welding track.
The invention also includes the use of an automatic welding device for lower side doors, which is used in a stand-alone workstation or in a complete lower side door production line.
Compared with the prior art, the invention has the beneficial effects that:
the automatic welding device can realize the automatic welding of the lower side door panel and the tracking welding of the double-gun synchronous laser tracking assembly, the double welding guns are accurately moved and positioned, the laser welding seam tracking sensors are respectively configured, the welding can be realized by communicating with an external singlechip in real time to track welding seams, eyes are arranged on a welding execution assembly, the welding seam tracking and locating are carried out in real time, the accurate welding is realized, the common faults of workpiece clamping deviation and sheet metal part thermal deformation in the welding process of a blind welding robot are radically treated, the working error and the labor intensity of workers are reduced, the product quality is ensured, the working efficiency is improved, and the high-quality welding of each welding bead is realized.
Drawings
FIG. 1 is a schematic front view of an embodiment of the present invention;
FIG. 2 is a schematic side view of an embodiment of the present invention;
FIG. 3 is a schematic front view of a clamping mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic top view of a clamping mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a dual-gun synchronous laser tracking assembly according to an embodiment of the present invention;
FIG. 6 is a schematic perspective view of a clamping assist mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic view of the connection structure of the clamping auxiliary mechanism according to the embodiment of the present invention;
FIG. 8 is a schematic view of the connection structure of the clamping assist mechanism when released in accordance with the embodiment of the present invention;
FIG. 9 is an exploded view of the attachment structure of the clamping assist mechanism in accordance with the embodiment of the present invention.
In the figure:
1. a conveying line; 2. a welding mechanism; 3. a photosensor; 4. a laser displacement sensor; 5. a clamping mechanism; 6. a longitudinal clamping cylinder; 7. a transverse clamping cylinder; 8. a lateral clamping cylinder; 9. a dual-gun synchronous laser tracking assembly; 10. fixing a welding gun; 11. moving the welding gun; 12. a moving module; 13. a welding table; 14. a cylinder telescopic rod; 15. a fixed mount; 16. a first straight rod; 17. a second straight rod; 18. a right-angle rod; 19. rotating the rod; 20. the spring clamps the pad.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Example 1:
as shown in fig. 1 to 5, an automatic welding device for a lower side door comprises a welding table 13, a conveying mechanism, a measuring mechanism, a clamping mechanism 5 and a welding mechanism 2, wherein the conveying mechanism, the measuring mechanism, the clamping mechanism and the welding mechanism are arranged on the welding table 13; the conveying mechanism is used for automatically conveying the lower side door, the measuring mechanism is arranged on the side portion of the conveying mechanism and used for measuring the size of the lower side door in the conveying process, the clamping mechanism 5 is arranged on the upper end face of the welding table 13 and used for fixing the position of the lower side door before welding, and the welding mechanisms 2 are arranged on two sides of the welding table 13;
the welding mechanism 2 is provided with a double-gun synchronous laser tracking assembly 9; the double-gun synchronous laser tracking assembly 9 comprises a welding execution assembly and a laser welding seam tracking sensor;
the welding executing assembly is arranged on a Y axis of the welding mechanism 2 and comprises a moving module 12 fixed on the Y axis, a moving welding gun 11 arranged on the moving module 12 and a fixed welding gun 10 fixed on the free end of the Y axis, the moving welding gun 11 moves along with the moving module 12, the fixed welding gun 10 moves along with the Y axis, and the laser welding seam tracking sensor completes online real-time detection on common welding seams through a complex program algorithm. Corresponding functional settings are available for the detection range, the detection capability and for common problems in the welding process. The device outputs deviation data by calculating the detected deviation between the welding seam and the welding gun, corrects the deviation in real time by the welding execution assembly, and accurately guides the welding gun to automatically weld, thereby realizing intelligent real-time tracking of the welding seam in the welding process.
The laser welding seam tracking sensor is arranged at the tail end of a welding executing component on the welding mechanism 2 and used for detecting and tracking a welding seam in real time, the output end of the laser welding seam tracking sensor is electrically connected with the input end of an external single chip microcomputer, the output end of the external single chip microcomputer is electrically connected with the input end of the welding executing component, and the input end of the external single chip microcomputer is electrically connected with the output end of an external power supply. The welding program is stored in the external single chip microcomputer, the specification and the size of the lower side door to be welded are detected according to the laser displacement sensor, the welding program is called correspondingly in the system, the welding mechanism 2 performs automatic welding, manual intervention is not needed in the whole process, the welding executing assembly and the laser welding seam tracking sensor are good in labor condition, high-quality welding beads are achieved, deviation is reduced, production efficiency is high, and welding quality is good.
The laser welding seam tracking sensor adopts a laser triangular reflection type principle, namely, a laser beam is amplified to form a laser line to be projected onto the surface of a measured object, reflected light passes through a high-quality optical system and is projected onto an imaging matrix, and the distance (Z axis) from the sensor to the measured surface and position information (X axis) along the laser line are obtained through calculation. Moving the object to be measured or the profiler probe can obtain a set of three-dimensional measurements.
The obtained information can be used for searching and positioning the welding seam, tracking the welding seam, controlling self-adaptive welding parameters and detecting the formation of the welding seam, and the information is transmitted to a welding execution assembly in real time to finish various complex welding, avoid welding quality deviation and realize unmanned welding.
Conveying mechanism is for locating transfer chain 1 of welding bench 13 up end, only needs the manual work to put the part to transfer chain 1, and the conveying roller on the transfer chain 1 carries the locating part with the side door part down, need not artifical transport.
Measuring mechanism includes laser displacement sensor 4 and photoelectric sensor 3, the top of welding bench 13 is all located to laser displacement sensor 4 and photoelectric sensor 3, and laser displacement sensor 4 and photoelectric sensor 3's output is connected with the input electricity of outside singlechip, and laser displacement sensor 4 and photoelectric sensor 3 are used for confirming under the various specifications side door specification and dimension. Photoelectric sensor 3 is equipped with two, is used for detecting the input and the output of lower side door respectively, and laser displacement sensor 4 is used for detecting out the width of lower side door, is convenient for fix a position lower side door.
The invention also comprises a welding method of the automatic welding device for the lower side door, which comprises the following steps:
(1) the lower side door is conveyed by a conveying mechanism;
(2) in the conveying process, the measuring mechanism is used for positioning and measuring the lower side door;
(3) after the lower side door is conveyed to a designated position, the clamping mechanism 5 is started to clamp the lower side door;
(4) the welding mechanism 2 performs tracking and locating welding on the welding seam.
The welding method comprises the following specific steps:
(11) the lower side door is conveyed forwards through the conveying line 1 on the welding table, when the lower side door passes through a first photoelectric sensor 3 in the photoelectric sensors 3, the speed is reduced, when the lower side door passes through a second photoelectric sensor 3 in the photoelectric sensors 3, the conveying line 1 stops conveying, and the lower side door stops;
(12) the external single chip microcomputer calculates the time of the lower side door passing through the two photoelectric sensors 3 and the running speed of the conveying line 1 to obtain the size of the lower side door in the length direction; and the width of the lower side door is measured by a laser displacement sensor 4;
(13) the external single chip microcomputer transmits data of the size of the lower side door to the clamping mechanism 5, the clamping mechanism 5 drives the transverse clamping cylinder 7 to move up and down through the longitudinal clamping cylinder 6, the transverse clamping cylinder 7 clamps the transverse length, the lateral clamping cylinder 8 extends out, the width of the lower side door is positioned and clamped, and the accurate positioning of the width direction of the lower side door is realized;
(14) the welding mechanism 2 calls a welding program stored in advance, welding is carried out through the double-gun synchronous laser tracking assembly 9, the laser welding seam tracking sensor monitors the welding seam in real time and transmits the welding seam to an external single chip microcomputer, the external single chip microcomputer sends a monitoring structure to the welding execution assembly, the fixed welding gun 10 moves along with the Y axis, the movable welding gun 11 moves along with the moving module 12 on the Y axis, and the welding trajectory is corrected by matching with the laser welding seam tracking sensor.
The invention also includes the use of an automatic welding device for lower side doors, which is used in a stand-alone workstation or in a complete lower side door production line.
Because the blanking precision of the workpiece at the lower side door has deviation, the deviation value is about +/-1.5 mm, and certain influence is caused on the welding quality, and the welding error can be reduced by configuring the laser welding seam tracking sensor. The basic principle of laser seam tracking sensors is based on laser triangulation. Laser of a laser emission line irradiates the surface of a workpiece, and after diffuse reflection, the laser profile is imaged on a CCD or CMOS sensor. And then the controller processes and analyzes the acquired image, so as to acquire the position of the welding seam, and the position is used for correcting the welding track or guiding welding. The laser tracking is to adopt a laser vision sensor to lead a welding gun for detection, calculate the position coordinates of a measuring point of the sensor according to the position relation between the laser vision sensor and the welding gun which is calibrated in advance, compare the teaching position of the robot with the detection position of the sensor in the welding process, calculate the position deviation of a corresponding point, and compensate the deviation to the current welding track when the welding gun lagging behind a laser line reaches the corresponding detection position, thereby realizing the purpose of correcting the welding track.
Laser locating is a process of measuring a position to be measured by a laser sensor in a single time and calculating the position of a target point. Generally, when a short welding seam or the interference of the laser tracking on a tool clamp is generated, the welding seam is supplemented and corrected in a laser position finding mode, and compared with the laser tracking, the laser position finding function is relatively simple, and the laser position finding method is convenient to implement and operate.
Compared with the traditional manual welding, the method wastes time and labor, and has overhigh cost, and the method adopts the laser displacement sensor and the laser welding seam tracking and locating. The laser displacement sensor automatically measures the length and the width of the lower side door, and the teaching program corresponds to each measured value one by one; and the welding seam is corrected in a laser tracking and locating mode, so that the welding quality is ensured.
It should be noted that the specific model of the external single chip microcomputer disclosed in this embodiment is ATMEGA16L-8AU, the preferred model of the clamp cylinder is RPG-120-P, the preferred model of the photoelectric sensor is WL2SG-2P3235, the preferred model of the laser sensor is ZX2-LD100, and the external single chip microcomputer controls the clamp cylinder to work by a method commonly used in the prior art.
Example 2:
as shown in fig. 1 to 9, an automatic welding device for a lower side door comprises a welding table 13, a conveying mechanism, a measuring mechanism, a clamping mechanism 5 and a welding mechanism 2, wherein the conveying mechanism, the measuring mechanism, the clamping mechanism and the welding mechanism are arranged on the welding table 13; the conveying mechanism is used for automatically conveying the lower side door, the measuring mechanism is arranged on the side portion of the conveying mechanism and used for measuring the size of the lower side door in the conveying process, the clamping mechanism 5 is arranged on the upper end face of the welding table 13 and used for fixing the position of the lower side door before welding, and the welding mechanisms 2 are arranged on two sides of the welding table 13;
the welding mechanism 2 is provided with a double-gun synchronous laser tracking assembly 9; the double-gun synchronous laser tracking assembly 9 comprises a welding execution assembly and a laser welding seam tracking sensor;
the welding executing assembly is arranged on a Y axis of the welding mechanism 2 and comprises a moving module 12 fixed on the Y axis, a moving welding gun 11 arranged on the moving module 12 and a fixed welding gun 10 fixed on the free end of the Y axis, the moving welding gun 11 moves along with the moving module 12, the fixed welding gun 10 moves along with the Y axis, and the laser welding seam tracking sensor completes online real-time detection on common welding seams through a complex program algorithm. Corresponding functional settings are available for the detection range, the detection capability and for common problems in the welding process. The device outputs deviation data by calculating the detected deviation between the welding seam and the welding gun, corrects the deviation in real time by the welding execution assembly, and accurately guides the welding gun to automatically weld, thereby realizing intelligent real-time tracking of the welding seam in the welding process.
The laser welding seam tracking sensor is arranged at the tail end of a welding executing component on the welding mechanism 2 and used for detecting and tracking a welding seam in real time, the output end of the laser welding seam tracking sensor is electrically connected with the input end of an external single chip microcomputer, the output end of the external single chip microcomputer is electrically connected with the input end of the welding executing component, and the input end of the external single chip microcomputer is electrically connected with the output end of an external power supply. The welding program is stored in the external single chip microcomputer, the specification and the size of the lower side door to be welded are detected according to the laser displacement sensor, the welding program is called correspondingly in the system, the welding mechanism 2 performs automatic welding, manual intervention is not needed in the whole process, the welding executing assembly and the laser welding seam tracking sensor are good in labor condition, high-quality welding beads are achieved, deviation is reduced, production efficiency is high, and welding quality is good.
The laser welding seam tracking sensor adopts a laser triangular reflection type principle, namely, a laser beam is amplified to form a laser line to be projected onto the surface of a measured object, reflected light passes through a high-quality optical system and is projected onto an imaging matrix, and the distance (Z axis) from the sensor to the measured surface and position information (X axis) along the laser line are obtained through calculation. Moving the object to be measured or the profiler probe can obtain a set of three-dimensional measurements.
The obtained information can be used for searching and positioning the welding seam, tracking the welding seam, controlling self-adaptive welding parameters and detecting the formation of the welding seam, and the information is transmitted to a welding execution assembly in real time to finish various complex welding, avoid welding quality deviation and realize unmanned welding.
Conveying mechanism is for locating transfer chain 1 of welding bench 13 up end, only needs the manual work to put the part to transfer chain 1, and the conveying roller on the transfer chain 1 carries the locating part with the side door part down, need not artifical transport.
Measuring mechanism includes laser displacement sensor 4 and photoelectric sensor 3, the top of welding bench 13 is all located to laser displacement sensor 4 and photoelectric sensor 3, and laser displacement sensor 4 and photoelectric sensor 3's output is connected with the input electricity of outside singlechip, and laser displacement sensor 4 and photoelectric sensor 3 are used for confirming under the various specifications side door specification and dimension. Photoelectric sensor 3 is equipped with two, is used for detecting the input and the output of lower side door respectively, and laser displacement sensor 4 is used for detecting out the width of lower side door, is convenient for fix a position lower side door.
The clamping auxiliary mechanism is arranged on an air cylinder telescopic rod 14 of the transverse clamping air cylinder 7 and the lateral clamping air cylinder 8 and comprises a sigma-shaped fixing frame 15 used for fixing the air cylinder and the clamping auxiliary mechanism and two groups of connecting rod assemblies symmetrically arranged on the upper side and the lower side of the fixing frame 15, wherein each connecting rod assembly comprises a first straight rod 16 and a second straight rod 17 which are rotatably connected with the fixing frame 15, a right-angle rod 18 which is rotatably connected with the first straight rod 16 and the second straight rod 17, and a rotating rod 19 which is rotatably connected with the center of the second straight rod 17 and the air cylinder telescopic rod 14 respectively. A cylindrical through hole is formed in the center of the fixed frame 15 and used for accommodating an air cylinder telescopic rod 14, the right-angle position of the right-angle rod 18 is rotatably connected with the second straight rod 17, and the tail end of one right-angle side of the right-angle rod 18 is rotatably connected with the first straight rod 16; the distance between the connection points of the first straight rod 16 and the second straight rod 17 and the fixed frame 15 is equal to the length of a right-angle side where a right-angle rod 18 connected with the first straight rod 16 is located, and a spring clamping pad 20 is arranged at the free end of the right-angle rod 18.
And the output end of the clamping auxiliary mechanism is connected with the input end of an external singlechip. The lower side door is fixedly clamped in the welding process, and FIG. 7 is a schematic view of a connection structure when the clamping auxiliary mechanism clamps; fig. 8 is a schematic view of the connection structure when the clamping assist mechanism is released.
The invention also comprises a welding method of the automatic welding device for the lower side door, which comprises the following steps:
(1) the lower side door is conveyed by a conveying mechanism;
(2) in the conveying process, the measuring mechanism is used for positioning and measuring the lower side door;
(3) after the lower side door is conveyed to a designated position, the clamping mechanism 5 is started to clamp the lower side door;
(4) the welding mechanism 2 performs tracking and locating welding on the welding seam.
The welding method comprises the following specific steps:
(11) the lower side door is conveyed forwards through the conveying line 1 on the welding table, when the lower side door passes through a first photoelectric sensor 3 in the photoelectric sensors 3, the speed is reduced, when the lower side door passes through a second photoelectric sensor 3 in the photoelectric sensors 3, the conveying line 1 stops conveying, and the lower side door stops;
(12) the external single chip microcomputer calculates the time of the lower side door passing through the two photoelectric sensors 3 and the running speed of the conveying line 1 to obtain the size of the lower side door in the length direction; and the width of the lower side door is measured by a laser displacement sensor 4;
(13) the external single chip microcomputer transmits data of the size of the lower side door to the clamping mechanism 5, the clamping mechanism 5 drives the transverse clamping cylinder 7 to move up and down through the longitudinal clamping cylinder 6, the transverse clamping cylinder 7 clamps the transverse length, the lateral clamping cylinder 8 extends out, the width of the lower side door is positioned and clamped, and the accurate positioning of the width direction of the lower side door is realized;
(14) the welding mechanism 2 calls a welding program stored in advance, welding is carried out through the double-gun synchronous laser tracking assembly 9, the laser welding seam tracking sensor monitors the welding seam in real time and transmits the welding seam to an external single chip microcomputer, the external single chip microcomputer sends a monitoring structure to the welding execution assembly, the fixed welding gun 10 moves along with the Y axis, the movable welding gun 11 moves along with the moving module 12 on the Y axis, and the welding trajectory is corrected by matching with the laser welding seam tracking sensor.
The invention also includes the use of an automatic welding device for lower side doors, which is used in a stand-alone workstation or in a complete lower side door production line.
Because the blanking precision of the workpiece at the lower side door has deviation, the deviation value is about +/-1.5 mm, and certain influence is caused on the welding quality, and the welding error can be reduced by configuring the laser welding seam tracking sensor. The basic principle of laser seam tracking sensors is based on laser triangulation. Laser of a laser emission line irradiates the surface of a workpiece, and after diffuse reflection, the laser profile is imaged on a CCD or CMOS sensor. And then the controller processes and analyzes the acquired image, so as to acquire the position of the welding seam, and the position is used for correcting the welding track or guiding welding. The laser tracking is to adopt a laser vision sensor to lead a welding gun for detection, calculate the position coordinates of a measuring point of the sensor according to the position relation between the laser vision sensor and the welding gun which is calibrated in advance, compare the teaching position of the robot with the detection position of the sensor in the welding process, calculate the position deviation of a corresponding point, and compensate the deviation to the current welding track when the welding gun lagging behind a laser line reaches the corresponding detection position, thereby realizing the purpose of correcting the welding track.
Laser locating is a process of measuring a position to be measured by a laser sensor in a single time and calculating the position of a target point. Generally, when a short welding seam or the interference of the laser tracking on a tool clamp is generated, the welding seam is supplemented and corrected in a laser position finding mode, and compared with the laser tracking, the laser position finding function is relatively simple, and the laser position finding method is convenient to implement and operate.
Compared with the traditional manual welding, the method wastes time and labor, and has overhigh cost, and the method adopts the laser displacement sensor and the laser welding seam tracking and locating. The laser displacement sensor automatically measures the length and the width of the lower side door, and the teaching program corresponds to each measured value one by one; and the welding seam is corrected in a laser tracking and locating mode, so that the welding quality is ensured.
It should be noted that the specific model of the external single chip microcomputer disclosed in this embodiment is ATMEGA16L-8AU, the preferred model of the clamp cylinder is RPG-120-P, the preferred model of the photoelectric sensor is WL2SG-2P3235, the preferred model of the laser sensor is ZX2-LD100, and the external single chip microcomputer controls the clamp cylinder to work by a method commonly used in the prior art.
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 (10)
1. The utility model provides a lower side door automatic welder which characterized in that: the device comprises a welding table, a conveying mechanism, a measuring mechanism, a clamping mechanism and a welding mechanism, wherein the conveying mechanism, the measuring mechanism, the clamping mechanism and the welding mechanism are arranged on the welding table; the conveying mechanism is used for automatically conveying the lower side door, the measuring mechanism is arranged on the side portion of the conveying mechanism and used for measuring the size of the lower side door in the conveying process, the clamping mechanism is arranged on the upper end face of the welding table and used for fixing the position of the lower side door before welding, and the welding mechanism is arranged on two sides of the welding table;
the welding mechanism is provided with a double-gun synchronous laser tracking assembly;
the double-gun synchronous laser tracking assembly comprises a welding execution assembly and a laser welding seam tracking sensor;
the welding executing assembly is arranged on a Y axis of the welding mechanism and comprises a moving module fixed on the Y axis, a moving welding gun arranged on the moving module and a fixed welding gun fixed on the free end of the Y axis, wherein the moving welding gun moves along with the moving module, and the fixed welding gun moves along with the Y axis.
2. The automatic welding apparatus for the lower side door according to claim 1, wherein:
the laser welding seam tracking sensor is arranged on one side of the welding mechanism and used for detecting and tracking a welding seam in real time, the output end of the laser welding seam tracking sensor is electrically connected with the input end of an external single chip microcomputer, the output end of the external single chip microcomputer is electrically connected with the input end of the welding execution assembly, and the input end of the external single chip microcomputer is electrically connected with the output end of an external power supply.
3. The automatic welding apparatus for the lower side door according to claim 1, wherein: the conveying mechanism is a conveying line arranged on the upper end face of the welding table.
4. The automatic welding apparatus for the lower side door according to claim 2, wherein: clamping mechanism includes vertical die clamping cylinder, horizontal die clamping cylinder and side direction die clamping cylinder, the lower terminal surface of welding bench is located to vertical die clamping cylinder, horizontal die clamping cylinder locates the up end of welding bench and is connected with vertical cylinder, one side of welding bench is located to side direction die clamping cylinder, vertical die clamping cylinder is used for driving horizontal die clamping cylinder and reciprocates, horizontal die clamping cylinder is used for pressing from both sides the length direction location of side door down, side direction die clamping cylinder is used for pressing from both sides the width direction location of side door down, vertical die clamping cylinder, horizontal die clamping cylinder and side direction die clamping cylinder all are connected with the output electricity of outside singlechip.
5. The automatic welding apparatus for the lower side door according to claim 1, wherein: the measuring mechanism comprises a laser displacement sensor and a photoelectric sensor, the laser displacement sensor and the photoelectric sensor are both arranged at the top end of the welding table, the output ends of the laser displacement sensor and the photoelectric sensor are electrically connected with the input end of an external single chip microcomputer, and the input end of the external single chip microcomputer is electrically connected with the output end of an external power supply.
6. The automatic welding apparatus for the lower side door according to claim 1, wherein: the clamping auxiliary mechanism is arranged on an air cylinder telescopic rod of the transverse clamping air cylinder and the lateral clamping air cylinder, and comprises a sigma-shaped fixing frame used for fixing the air cylinder and the clamping auxiliary mechanism, two groups of connecting rod assemblies symmetrically arranged on the upper side and the lower side of the fixing frame, wherein each connecting rod assembly comprises a first straight rod and a second straight rod which are connected with the fixing frame in a rotating mode, right-angle rods which are connected with the first straight rod and the second straight rod in a rotating mode, and rotating rods which are connected with the center of the second straight rod and the air cylinder telescopic rod in a rotating mode respectively.
7. The automatic welding device for the lower side door according to claim 6, wherein: a cylindrical through hole is formed in the center of the fixing frame and used for accommodating an expansion rod of the air cylinder, the right angle of the right-angle rod is rotatably connected with the second straight rod, and the tail end of one right-angle side of the right-angle rod is rotatably connected with the first straight rod; the distance between the first straight rod and the connecting point of the second straight rod and the fixing frame is equal to the length of a right-angle edge where a right-angle rod connected with the first straight rod is located, and a spring clamping pad is arranged at the free end of the right-angle rod.
8. A welding method of the automatic welding device for the lower side door according to any one of claims 1 to 7, wherein the welding method comprises:
(1) the lower side door is conveyed by a conveying mechanism;
(2) in the conveying process, the measuring mechanism is used for positioning and measuring the lower side door;
(3) after the lower side door is conveyed to a designated position, the clamping mechanism is started to clamp the lower side door;
(4) and the welding mechanism performs tracking and locating welding on the welding seam.
9. The welding method of the automatic welding device for the lower door according to claim 8, wherein: the welding method comprises the following specific steps:
(11) the lower side door is conveyed forwards through the conveying line on the welding table, when passing through a first photoelectric sensor in the photoelectric sensors, the speed is reduced, when passing through a second photoelectric sensor in the photoelectric sensors, the conveying line stops conveying, and the lower side door stops conveying;
(12) the external single chip microcomputer calculates the time of the lower side door passing through the two photoelectric sensors and the running speed of the conveying line to obtain the size of the lower side door in the length direction; measuring the width of the lower side door by a laser displacement sensor;
(13) the external single chip microcomputer transmits data of the size of the lower side door to the clamping mechanism, the clamping mechanism drives the transverse clamping cylinder to move up and down through the longitudinal clamping cylinder, the transverse clamping cylinder clamps the transverse length, the lateral clamping cylinder extends out, the width of the lower side door is positioned and clamped, and the accurate positioning of the width direction of the lower side door is realized;
(14) the welding mechanism calls a welding program stored in advance, welding is carried out through the double-gun synchronous laser tracking assembly, the laser welding seam tracking sensor monitors the welding seam in real time and transmits the welding seam to the external single chip microcomputer, the external single chip microcomputer sends the monitoring structure to the welding execution assembly, the fixed welding gun moves along with the Y axis, the movable welding gun moves along with the moving module on the Y axis, and the laser welding seam tracking sensor is matched to achieve correction of a welding track.
10. Use of an automatic welding device for a lower side door having a structure according to any one of claims 1 to 7 or used by a welding method according to any one of claims 8 to 9, characterized in that: the welding device is used in an independent workstation or in a complete lower side door production line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011570488.3A CN112676726A (en) | 2020-12-26 | 2020-12-26 | Automatic welding device for lower side door and welding method and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011570488.3A CN112676726A (en) | 2020-12-26 | 2020-12-26 | Automatic welding device for lower side door and welding method and application thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112676726A true CN112676726A (en) | 2021-04-20 |
Family
ID=75452021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011570488.3A Pending CN112676726A (en) | 2020-12-26 | 2020-12-26 | Automatic welding device for lower side door and welding method and application thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112676726A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113996982A (en) * | 2021-12-17 | 2022-02-01 | 贵阳淦鑫钢模制造有限公司 | Walking type tracking welding device for steel die |
-
2020
- 2020-12-26 CN CN202011570488.3A patent/CN112676726A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113996982A (en) * | 2021-12-17 | 2022-02-01 | 贵阳淦鑫钢模制造有限公司 | Walking type tracking welding device for steel die |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110524582B (en) | Flexible assembly welding robot workstation | |
| CN105458462B (en) | A kind of trapezoidal weld seam multi-parameter synchronizing visual detecting and tracking method of Varied clearance | |
| CN104942404B (en) | Dual wavelength binocular vision welding seam tracking method and tracking system | |
| CN105033419B (en) | Movable welding robot device based on weld pool image weld seam tracking | |
| CN107262926B (en) | Automatic laser welding device with CCD detection function and welding method | |
| CN203330563U (en) | Broken line fillet weld automatic welding apparatus based on visual guiding | |
| CN108406114B (en) | Arc T-shaped angle joint double-face welding method | |
| CN106271081A (en) | Three coordinate rectangular robot line laser seam tracking system and trackings thereof | |
| CN103273171A (en) | Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding | |
| CN105983802B (en) | A kind of welding robot control system and method | |
| CN203973025U (en) | A kind of circumferential weld vision inspection apparatus detecting based on decoupling zero | |
| CN209919145U (en) | Automatic welding tracker | |
| CN109834373A (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN108788394B (en) | Laser scanning welding seam tracking device and tracking method thereof | |
| CN206105156U (en) | Three -dimensional rectangular robot line laser welding seam automatic tracking system | |
| CN107322203B (en) | Sheet welding production line and control system thereof | |
| CN112676726A (en) | Automatic welding device for lower side door and welding method and application thereof | |
| CN109822194A (en) | A kind of weld tracker and welding method | |
| CN109530866A (en) | A kind of container lintel welding method of band three-dimensional weld seam recognition | |
| CN208743921U (en) | A kind of online laser-beam welding machine | |
| CN214212668U (en) | Automatic welding device for lower side door | |
| CN112388124A (en) | Laser tracking servo-controlled inner longitudinal weld submerged arc equipment | |
| CN110560840B (en) | System and method for identifying weld joint position and automatically welding by laser | |
| CN208644515U (en) | A kind of frame vehicle front and back end carriage welding system | |
| CN213827435U (en) | Laser tracking servo-controlled inner longitudinal weld submerged arc equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |