CN112692431A - Welding gun mechanism with welding seam tracking sensor - Google Patents
Welding gun mechanism with welding seam tracking sensor Download PDFInfo
- Publication number
- CN112692431A CN112692431A CN201911012287.9A CN201911012287A CN112692431A CN 112692431 A CN112692431 A CN 112692431A CN 201911012287 A CN201911012287 A CN 201911012287A CN 112692431 A CN112692431 A CN 112692431A
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- laser
- welding gun
- gas pipe
- welding
- camera
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention provides a welding gun mechanism with a welding seam tracking sensor, which comprises: the welding gun component comprises a welding gun gas pipe part and a welding head, wherein the welding head is bent towards one side of the welding gun gas pipe part and forms an obtuse angle with the welding gun gas pipe part, and the obtuse angle has a preset angle; the laser assembly is connected to one side of the welding gun gas pipe part and is close to the welding head, the laser assembly comprises a laser, a reflecting mirror and a laser exit window, and laser emitted by the laser is reflected by the reflecting mirror and then is emitted out through the laser exit window; the camera assembly is connected to one side of the gas pipe part of the welding gun and is far away from the welding head, the camera assembly comprises a camera and a laser incidence window, and the reflected laser enters the camera through the laser incidence window; the laser exit window and the laser entrance window are arranged in a staggered mode, and the distance between the laser exit window and the welding gun gas pipe part is smaller than the distance between the laser entrance window and the welding gun gas pipe part. The thickness of the part close to the welding head is obviously reduced, so that the influence on the welding head is avoided.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a welding gun mechanism with a welding seam tracking sensor.
Background
With the development of production, the requirement on the welding quality of products is higher and higher, and meanwhile, the labor intensity of workers is required to be improved. Automated welding is a direction of development. In automated welding, detection and guidance are guarantees of welding quality. Therefore, the weld seam tracking sensor technology is a precondition for realizing the automation of robot welding.
The weld tracking sensor generally comprises a camera and a laser, wherein the laser emits laser to a weld of a workpiece to be welded, and the laser returned from the weld of the workpiece to be welded returns to the camera, so that the weld is tracked. In order to ensure that the laser emitted by the laser can be reflected back to the camera through the welding seam, a larger included angle is required to be formed between the light emitting direction of the laser and the optical axis of the camera.
In order to ensure that an included angle can be formed between the light emitting direction of the laser and the optical axis of the camera, the prior art generally starts from the following two aspects: on one hand, in the direction perpendicular to the welding gun air pipe, the distance between the camera and the laser is increased, so that the camera and the laser are staggered as much as possible; on the other hand, the camera and the laser are mounted as close to the welding head as possible.
The prior art has the following obvious technical defects: the normal welding of a welding head is influenced due to the overlarge integral thickness of the sensor; 2. the camera and the laser are too close to the welding position and are easily impacted by high temperature.
Disclosure of Invention
The invention aims to provide a welding gun mechanism with a welding seam tracking sensor, which can realize automatic tracking of a welding seam on a workpiece to be welded and welding of the welding seam, and the specific technical scheme of the invention is as follows:
a welding gun mechanism with a weld tracking sensor, comprising:
the welding gun component comprises a welding gun gas pipe part and a welding head connected to the tail end of the welding gun gas pipe part, wherein the welding head is bent towards one side of the welding gun gas pipe part and forms an obtuse angle with the welding gun gas pipe part, and the obtuse angle is a preset angle;
the laser assembly is connected to one side of the welding gun gas pipe part and close to the welding head, the laser assembly comprises a laser, a reflecting mirror and a laser exit window, and laser emitted by the laser is reflected by the reflecting mirror and then is emitted through the laser exit window;
the camera assembly is connected to one side of the welding gun gas pipe part and is far away from the welding head, the camera assembly comprises a camera and a laser incidence window, and the reflected laser enters the camera through the laser incidence window;
the laser exit window and the laser entrance window are arranged in a staggered mode, and the distance between the laser exit window and the welding gun gas pipe portion is smaller than the distance between the laser entrance window and the welding gun gas pipe portion.
Further, the camera, the laser entrance window, the laser instrument, the speculum reaches the laser exit window is followed the extending direction of welder trachea portion arranges in proper order, wherein: the laser exit window is closest to the welding head, the camera is farthest from the welding head, and the distance between the laser and the welding gun gas pipe part is smaller than the distance between the camera and the welding gun gas pipe part.
Further, it still includes the casing of being connected with welding gun trachea portion, be formed with in the casing: the camera is arranged in the camera component mounting cavity, and the laser incidence window is formed at the end part of the camera component mounting cavity; and the laser and the reflecting mirror are arranged in the laser component mounting cavity, and the laser exit window is formed at the end part of the laser component mounting cavity.
Further, the housing includes: the base body is directly connected with the welding gun gas pipe part, and a camera assembly mounting groove and a laser assembly mounting groove are formed in the base body; the cover body, the cover body includes the camera subassembly cover body and the laser assembly cover body, the camera subassembly cover body with camera subassembly mounting groove lock forms camera subassembly installation cavity, the laser assembly cover body with camera subassembly mounting groove lock forms laser installation cavity.
Further, the cover body is of a symmetrical split structure.
Furthermore, the laser exit window and the laser entrance window are respectively provided with a detachable glass baffle.
Furthermore, be provided with the slip table on the pedestal, the slip table can make a round trip to slide on the extending direction of welder gas pipe portion, welder gas pipe portion fixed connection be in on the slip table.
Furthermore, in the extending direction of the welding gun gas pipe part, a support positioned on one side of the sliding table far away from the laser exit window and a stop block positioned on one side of the sliding table close to the laser exit window are further arranged on the base body, and a contact switch is mounted on the support; when the sliding table slides towards the bracket, the contact switch is triggered and sends out an induction signal; when the sliding table slides towards the stop block, the sliding table is finally abutted against the stop block.
Furthermore, one end of the sliding table, which is close to the support, is provided with a first guide rod, the support is provided with a first guide hole matched with the first guide rod, and when the sliding table slides towards the support, the first guide rod can penetrate into the first guide hole; the one end that the slip table is close to the dog is provided with the second guide bar, be provided with on the dog with second guide bar assorted second guiding hole, work as the slip table orientation when the dog slides, the second guide bar can penetrate extremely in the second guiding hole.
Furthermore, a return spring is connected between the sliding table and the support.
By arranging the laser component and the camera component, the welding gun mechanical arm has the following technical effects: 1. the thickness of the laser assembly close to the welding head is obviously reduced, so that the influence on the welding head is avoided; 2. the camera and the laser are far away from the welding head, so that high-temperature impact is avoided; 3. the integration of a welding gun component and a welding seam tracking sensor is realized, and the compactness of a welding system is improved.
Drawings
FIG. 1 is a schematic view of an assembly configuration of a welding gun mechanism with a weld tracking sensor according to the present invention;
FIG. 2 is a schematic view of an exploded view of a torch mechanism with a seam tracking sensor according to the present invention from one perspective;
fig. 3 is a schematic diagram of an exploded view of the welding gun mechanism with the seam tracking sensor at another viewing angle.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention relates to a welding gun mechanism with a welding seam tracking sensor, which can realize the tracking of a welding seam on a workpiece to be welded and the tracking of the welding seam. As shown in fig. 1 to 3, the welding gun robot of the present invention includes a welding gun member 1, a laser module 2, a camera module 3, and the like. Wherein:
the welding torch member 1 includes a welding torch pipe part 11 and a welding head 12 connected to a distal end of the welding torch pipe part 11, and the welding head 12 is bent toward one side of the welding torch pipe part 11 and forms an obtuse angle having a predetermined angle with the welding torch pipe part 11. As in some embodiments, the predetermined angle is 150 ° to 170 °.
The laser assembly 2 is connected to one side of the obtuse angle of the welding gun gas pipe part 11 and close to the welding head 12, the laser assembly 2 comprises a laser 21, a reflecting mirror 22 and a laser exit window 23, and the reflecting mirror 22 is configured to reflect laser emitted by the laser 21 out through the laser exit window 23, so that irradiation of a welding seam on the welding workpiece 100 is achieved.
The camera assembly 3 is also connected to a side of the welding torch 11 at the obtuse angle and away from the welding head 12, the camera assembly 3 includes a camera 31 and a laser incident window 32, the camera 31 is configured to receive the laser reflected from the weld of the welding workpiece 100 through the laser incident window 32, so as to obtain an image of the weld to realize the weld tracking.
It can be seen that the laser assembly 2 and camera assembly 3 form a complete set of weld tracking sensors. The invention realizes the integration of the welding seam tracking sensor and the welding gun component.
In particular, in the present invention, as shown in fig. 1, the laser exit window 23 and the laser entrance window 32 are alternately arranged, and the distance between the laser exit window 32 and the torch gas pipe part 11 is smaller than the distance between the laser entrance window 32 and the torch gas pipe part 11. So set up, can show the thickness that reduces laser subassembly 2 to avoid the influence of welding seam tracking sensor butt joint 12.
As shown in fig. 1, the above arrangement provides a sufficient laser reflection space between the laser light entrance window 32 and the end of the welding head 12. The laser light reflected by the weld of the welded workpiece 100 can be smoothly reflected to the laser light incident window 32 and into the camera 31 without being blocked by the laser assembly 2.
As shown in fig. 2, in one embodiment, the camera 31, the laser entrance window 32, the laser 21, the reflector 22 and the laser exit window 23 are arranged in sequence along the extending direction of the torch gas pipe part 11, wherein: the laser exit window 23 is located at the closest distance from the welding head 12, the camera 31 is located at the farthest distance from the welding head 12, and the distance between the laser 21 and the torch pipe portion 11 is smaller than the distance between the camera 31 and the torch pipe portion 11.
With continued reference to FIG. 2, in one embodiment, the present invention further includes a housing 4 coupled to the torch gas pipe portion 11, the housing 4 having a camera assembly mounting cavity and a laser assembly mounting cavity formed therein, wherein: the camera 31 is installed in the camera module installation cavity, and the laser light incident window 32 is formed at an end of the camera module installation cavity. The laser 21 and the reflecting mirror 22 are installed in the laser component installation cavity, and the laser exit window 23 is formed at the end of the laser component installation cavity.
In order to facilitate the maintenance of optical components in the camera component mounting cavity and the laser component mounting cavity, the shell 1 adopts a split design. Specifically, the housing 1 includes a base 41 and a cover 42 fastened to the base 41. Wherein: the holder body 41 is directly connected to the torch gas pipe portion 11, and a camera module mounting groove 411 and a laser module mounting groove 412 are formed on the holder body 41. The cover body 42 includes the camera subassembly cover body 421 and the laser subassembly cover body 422, and the camera subassembly cover body 421 forms the camera subassembly installation cavity with the lock of camera subassembly mounting groove 411, and the laser subassembly cover body 422 forms the laser installation cavity with the lock of camera subassembly mounting groove 411. When maintenance of each optical component in the camera module mounting cavity and the laser module mounting cavity is required, the cover 42 is detached from the base 41. Further, the cover 42 may be provided in a symmetrical split structure as shown in fig. 2.
In order to prevent the metal material splashed during the welding process from entering the housing 1 through the laser exit window 23 and the laser exit window 32, in some preferred embodiments, detachable glass baffles are mounted at both the laser exit window 23 and the laser entrance window 32. In order to ensure the light transmission performance of the glass baffle plate, the glass baffle plate can be replaced regularly.
As is well known to those skilled in the art, during the welding process, the welding head 12 may accidentally touch the workpiece 100 to be welded, and if left uncontrolled, the welding head 12 may be easily damaged. It is therefore necessary to find a solution in which the welding gun member 1 can be immediately moved away from the workpiece 100 to be welded when the welding head 12 touches the workpiece 100 to be welded, thereby preventing the welding head 12 from continuously and rigidly touching the workpiece 100 to be welded.
To achieve this, as shown in fig. 3, in some embodiments, the base body 41 is provided with a slide table 5, and the slide table 5 is capable of sliding back and forth in the extending direction of the welding gun gas pipe portion 11, and the welding gun gas pipe portion 11 is fixedly connected to the slide table 5. Preferably, an annular welding gun fixing ring 9 is arranged on the sliding table 5, and the welding gun gas pipe part 11 penetrates through the welding gun fixing ring 9 to be fixedly connected to the sliding table 5.
When the welding head 12 touches the workpiece to be welded, the sliding table 5 drives the welding gun component 1 to move away from the workpiece 100 to be welded under the pushing of the counterforce, so that the continuous rigid touch of the welding head 12 and the workpiece 100 to be welded is prevented.
In some preferred embodiments, the base body 41 is further provided with a bracket 6 on a side of the slide table 5 away from the laser exit window 23 and a stopper 7 on a side of the slide table 5 close to the laser exit window 23 along the extending direction of the welding gun gas pipe part 11, and the bracket 6 is provided with a contact switch 62.
When the welding head 12 touches a workpiece to be welded, under the pushing of a counterforce, the sliding table 5 slides towards the support 6 to trigger the contact switch 62, the contact switch 62 generates a sensing signal after being triggered and sends the sensing signal to a control system of the welding gun mechanical arm, and the control system controls the welding gun mechanical arm to stop welding in time.
After the welding head 12 leaves the workpiece 100 to be welded, the slide table 5 is reset and abuts against the stopper 7.
In some embodiments, a return spring 8 is connected between the slide table 5 and the connecting bracket 6. When the welding head 12 touches the workpiece 100 to be welded, the slide table 5 slides toward the connecting bracket 6, and the return spring 8 is compressed. When the welding head 12 is completely away from the workpiece 100 to be welded, the return spring 8 is decompressed and returned, so that the sliding table 5 is pushed to move towards the stop block 7 and finally abuts against the stop block 7, and the return is realized.
In some embodiments, as shown in fig. 3, one end of the sliding table 5 close to the bracket 6 is provided with a first guide rod 51, the bracket 6 is provided with a first guide hole 61 matched with the first guide rod 51, and when the sliding table 5 slides towards the bracket 6, the first guide rod 51 can penetrate into the first guide hole 61; one end of the sliding table 5 close to the stop block 7 is provided with a second guide rod 52, the stop block 7 is provided with a second guide hole matched with the second guide rod 52, and when the sliding table 5 slides towards the stop block 7, the second guide rod 52 can penetrate into the second guide hole.
Preferably, the sliding table 5 is a rectangular parallelepiped block-shaped mechanism. In order to improve the guiding stability, the first guide rod 51 and the second guide rod 52 are all set to four, the four first guide rods 51 and the four second guide rods 52 are arranged at four corners of the corresponding end surface of the sliding table 5, and correspondingly, the first guide holes 61 and the second guide holes are also respectively set to four.
It can be seen that the cooperation of the guide rod and the guide hole realizes the sliding guide of the sliding table 5, thereby preventing the welding gun component 1 from large-amplitude angle inclination in the sliding process.
In some embodiments, to facilitate mounting the present invention to a welding robot, a mounting bracket is further attached to the end of the bracket 6, and mounting holes are provided on the mounting bracket. The present invention can be mounted to a welding robot via a mounting bracket.
The invention has been described above with a certain degree of particularity. It will be understood by those of ordinary skill in the art that the description of the embodiments is merely exemplary and that all changes that come within the true spirit and scope of the invention are desired to be protected. The scope of the invention is defined by the appended claims rather than by the foregoing description of the embodiments.
Claims (10)
1. A welding gun mechanism with a welding seam tracking sensor is characterized by comprising:
the welding gun component comprises a welding gun gas pipe part and a welding head connected to the tail end of the welding gun gas pipe part, wherein the welding head is bent towards one side of the welding gun gas pipe part and forms an obtuse angle with the welding gun gas pipe part, and the obtuse angle is a preset angle;
the laser assembly is connected to one side of the welding gun gas pipe part and close to the welding head, the laser assembly comprises a laser, a reflecting mirror and a laser exit window, and laser emitted by the laser is reflected by the reflecting mirror and then is emitted through the laser exit window;
the camera assembly is connected to one side of the welding gun gas pipe part and is far away from the welding head, the camera assembly comprises a camera and a laser incidence window, and the reflected laser enters the camera through the laser incidence window;
the laser exit window and the laser entrance window are arranged in a staggered mode, and the distance between the laser exit window and the welding gun gas pipe portion is smaller than the distance between the laser entrance window and the welding gun gas pipe portion.
2. The torch mechanism according to claim 1, wherein the camera, the laser entrance window, the laser, the reflector, and the laser exit window are arranged in order along an extending direction of the torch gas pipe portion, wherein: the laser exit window is closest to the welding head, the camera is farthest from the welding head, and the distance between the laser and the welding gun gas pipe part is smaller than the distance between the camera and the welding gun gas pipe part.
3. The torch mechanism according to claim 1, further comprising a housing connected to the torch gas pipe portion, the housing having formed therein:
the camera is arranged in the camera component mounting cavity, and the laser incidence window is formed at the end part of the camera component mounting cavity; and
the laser device and the reflecting mirror are mounted in the laser component mounting cavity, and the laser exit window is formed at the end of the laser component mounting cavity.
4. The welding gun mechanism according to claim 3, wherein said housing includes:
the base body is directly connected with the welding gun gas pipe part, and a camera assembly mounting groove and a laser assembly mounting groove are formed in the base body;
the cover body, the cover body includes the camera subassembly cover body and the laser assembly cover body, the camera subassembly cover body with camera subassembly mounting groove lock forms camera subassembly installation cavity, the laser assembly cover body with camera subassembly mounting groove lock forms laser installation cavity.
5. The welding gun mechanism according to claim 4, wherein: the cover body is of a symmetrical split structure.
6. The torch mechanism of claim 1 wherein said laser exit window and said laser entrance window are each fitted with a removable glass shield.
7. The welding gun mechanism according to claim 4, wherein: the base body is provided with a sliding table which can slide back and forth in the extending direction of the welding gun gas pipe portion, and the welding gun gas pipe portion is fixedly connected to the sliding table.
8. The welding gun mechanism according to claim, wherein: in the extending direction of the welding gun gas pipe part, a support positioned on one side of the sliding table far away from the laser exit window and a stop block positioned on one side of the sliding table close to the laser exit window are further arranged on the base body, and a contact switch is mounted on the support;
when the sliding table slides towards the bracket, the contact switch is triggered and sends out an induction signal;
when the sliding table slides towards the stop block, the sliding table is finally abutted against the stop block.
9. The welding gun mechanism according to claim 8, wherein:
a first guide rod is arranged at one end, close to the support, of the sliding table, a first guide hole matched with the first guide rod is formed in the support, and when the sliding table slides towards the support, the first guide rod can penetrate into the first guide hole;
the one end that the slip table is close to the dog is provided with the second guide bar, be provided with on the dog with second guide bar assorted second guiding hole, work as the slip table orientation when the dog slides, the second guide bar can penetrate extremely in the second guiding hole.
10. The welding gun mechanism according to claim 8, characterized in that a return spring is connected between the slide table and the support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911012287.9A CN112692431A (en) | 2019-10-23 | 2019-10-23 | Welding gun mechanism with welding seam tracking sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911012287.9A CN112692431A (en) | 2019-10-23 | 2019-10-23 | Welding gun mechanism with welding seam tracking sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112692431A true CN112692431A (en) | 2021-04-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911012287.9A Pending CN112692431A (en) | 2019-10-23 | 2019-10-23 | Welding gun mechanism with welding seam tracking sensor |
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| Country | Link |
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| CN (1) | CN112692431A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681555A (en) * | 2021-08-06 | 2021-11-23 | 郭宇 | Soft-sensing welding robot and welding seam tracking method thereof |
| CN114393281A (en) * | 2022-03-24 | 2022-04-26 | 徐州赛福电子有限公司 | High-precision welding positioner |
-
2019
- 2019-10-23 CN CN201911012287.9A patent/CN112692431A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681555A (en) * | 2021-08-06 | 2021-11-23 | 郭宇 | Soft-sensing welding robot and welding seam tracking method thereof |
| CN113681555B (en) * | 2021-08-06 | 2022-12-02 | 郭宇 | Soft-sensing welding robot and welding seam tracking method thereof |
| CN114393281A (en) * | 2022-03-24 | 2022-04-26 | 徐州赛福电子有限公司 | High-precision welding positioner |
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Application publication date: 20210423 |