CN112719584A

CN112719584A - Device and method for separating welding loop grounding and control grounding of laser sensing intelligent welding robot

Info

Publication number: CN112719584A
Application number: CN202011435509.0A
Authority: CN
Inventors: 李广; 曹建华
Original assignee: Zhuhai Pingzhu Technology Co ltd; Guangdong Institute of Science and Technology
Current assignee: Zhuhai Pingzhu Technology Co ltd; Guangdong Institute of Science and Technology
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-04-30
Anticipated expiration: 2040-12-10
Also published as: CN112719584B

Abstract

The invention provides a device and a method for separating welding circuit grounding from control grounding of a laser sensing intelligent welding robot, wherein the device comprises a guide rail arranged on a rack of the laser sensing intelligent welding robot, a tray is arranged on the guide rail, a pressing unit is arranged on the tray, a copper bar is arranged on one side of the pressing unit, the copper bar can be abutted against a workpiece to be welded, and the copper bar is connected to the welding circuit grounding; the frame is provided with an insulating layer, the guide rail is arranged above the insulating layer, and the control loop of the laser sensing intelligent welding robot is connected with the frame in a grounding mode. According to the method, the welding loop power supply and the control loop power supply are isolated through the isolation transformer. The invention can realize the electric isolation of the welding loop and the control loop, avoid the influence of the voltage and the current of the welding loop on the device of the control loop and ensure the stable operation of the device of the control loop.

Description

Device and method for separating welding loop grounding and control grounding of laser sensing intelligent welding robot

Technical Field

The invention relates to the technical field of intelligent welding, in particular to a device for separating the welding loop grounding and the control grounding of a laser sensing intelligent welding robot and a working method of the device.

Background

The construction industry uses aluminium template to carry out the construction in a large number, and current aluminium template is formed by bottom plate and polylith curb plate, baffle welding usually. If manual welding is used, on one hand, the welding quality cannot be guaranteed, and on the other hand, the manufacturing time of the aluminum template is long due to low manual welding efficiency, so that the processing efficiency of the template is influenced. Therefore, it is considered to use automated equipment to weld the aluminum forms, such as an automated welding machine. For example, chinese patent application CN110961778A discloses a welding device for automatically welding aluminum templates and a welding method of the welding device. The welding equipment is a laser sensing intelligent welding robot which is provided with a color camera and a welding gun, the color camera shoots the shape of an aluminum template to be welded and identifies the area to be welded, then the movement track of the welding gun is calculated, and the welding gun moves according to the calculated movement track and welds the aluminum template. Therefore, such welding equipment requires the position of the welding torch to be very precise to ensure the welding quality of the aluminum mold plate.

The welding equipment is provided with a welding loop and a control loop, the welding loop mainly comprises high-voltage electric equipment such as a welding gun and the like, and the control loop mainly comprises low-voltage devices such as a controller and a servo motor. The existing welding equipment is provided with a common grounding terminal, namely, the grounding of the welding loop and the grounding of the control loop are both the common grounding terminal. Due to the high voltage and high current of the welding circuit, such a design will result in the high voltage of the welding circuit having an influence on the low voltage of the control circuit, for example resulting in the voltage of the control circuit being too high, affecting the operation of the electronics of the control circuit.

In addition, the aluminum template needs to be clamped and fixed during welding, but the current of the welding loop is large, so that the large current can easily flow to a rack of the welding equipment along the part for clamping the aluminum template, the rack is easily electrified, and personal safety of operators of the welding equipment is threatened.

Disclosure of Invention

The first purpose of the invention is to provide a device for separating the welding loop ground and the control ground of the laser sensing intelligent welding robot, which can avoid the influence of the voltage and the current of the welding loop on the control loop.

The second purpose of the invention is to provide a working method of the device for separating the welding loop grounding and the control grounding of the laser sensing intelligent welding robot, which can avoid the influence of the welding loop current on the control loop current.

In order to realize the first purpose of the invention, the device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot comprises a guide rail arranged on a rack of the laser sensing intelligent welding robot, a tray is arranged on the guide rail, a pressing unit is arranged on the tray, a copper bar is arranged on one side of the pressing unit, the copper bar can be abutted against a workpiece to be welded, and the copper bar is connected to the welding loop ground; the frame is provided with an insulating layer, the guide rail is arranged above the insulating layer, and the control loop of the laser sensing intelligent welding robot is connected with the frame in a grounding mode.

It is thus seen that by above-mentioned scheme, the copper bar that compresses tightly unit one side can the butt wait for on the welded work piece to the aluminium mould board to form the earthing terminal of welding return circuit, the guide rail can be flowed through to the electric current of copper bar through, because be provided with the insulating layer between guide rail and the frame, consequently, the frame can not be flowed through to the electric current of welding return circuit, can not form the heavy current in the frame, ensures operating personnel's safety.

In addition, the grounding of the control loop is arranged on the rack, and the insulating layer realizes the insulation between the welding loop and the rack, namely the isolation between the welding loop and the grounding of the control loop is realized, so that the influence of the voltage and the current of the welding loop on the control loop is avoided.

Preferably, the tray comprises a base, and a clamping piece is arranged below the base and clamped on the guide rail.

Therefore, the tray is clamped on the guide rail through the clamping piece, and the tray can be driven to move on the guide rail through the driving mechanism, so that the movement track of the tray is ensured.

The clamping piece comprises two clamping arms extending downwards, and the two clamping arms are respectively positioned at two sides of the guide rail; two side surfaces of the guide rail are provided with concave parts, and the two clamping arms are respectively matched with the concave parts.

Therefore, the two clamping arms can ensure the matching of the clamping piece and the guide rail, and the clamping piece is prevented from falling off from the guide rail.

The compressing unit comprises a connecting rod, one side of the connecting rod is provided with a compression rod, and the compression rod is connected with the connecting rod through a compressing assembly; the copper bar is fixed on the surface of the pressure bar.

Therefore, the pressing rod can clamp the aluminum template by driving the pressing rod to move through the pressing component.

In a further aspect, the base includes a pair of sidewalls, and the connecting bar is disposed adjacent one of the sidewalls.

Therefore, the space in the width direction of the tray can be fully utilized, and the tray can adapt to welding of aluminum templates with different widths.

In a further scheme, the copper bar is electrically connected with the base. Therefore, current flowing through the aluminum template flows through the base after passing through the copper bar, the base of the tray forms grounding of a welding loop, and electric isolation of the grounding of the welding loop and the grounding of a control loop is achieved.

The laser sensing intelligent welding robot is further provided with a power circuit, wherein the power circuit comprises an alternating current contactor and an isolation transformer, and the alternating current contactor supplies power to a welding loop; the primary side of the isolation transformer is connected to the AC contactor, and the secondary side of the isolation transformer supplies power to the control loop.

Therefore, the power supply of the welding loop is isolated from the power supply of the control loop through the isolation transformer, so that the current of the welding loop can be prevented from influencing the control loop, and the stable work of devices of the control loop is ensured.

In a further aspect, the voltage on the secondary side of the isolation transformer is equal to or less than the voltage on the primary side of the isolation transformer.

In a further aspect, the control circuit includes at least one controller, the welding circuit includes at least one high voltage device, and the controller outputs a control signal to the high voltage device; the controller outputs a control signal to the photoelectric coupler, and the high-voltage device receives a signal output by the photoelectric coupler. Preferably, the high voltage device comprises at least one welding gun.

Therefore, the control signal sent by the controller of the control loop is not directly transmitted to the high-voltage device, but is transmitted through the photoelectric coupler, so that the control loop is completely electrically isolated from the welding loop, and the influence of the current of the high-voltage device on the control loop can be avoided.

In order to achieve the second purpose, the working method of the device for separating the welding loop grounding and the control grounding of the laser sensing intelligent welding robot provided by the invention comprises the steps that an alternating current contactor outputs alternating current to a high-voltage device of the welding loop, and the current passing through the high-voltage device flows to the welding loop grounding after passing through a workpiece to be welded and a copper bar; the alternating current contactor outputs alternating current to the isolation transformer, current passing through the isolation transformer is output to a controller of the control loop, and the current passing through the controller flows to the control loop and is grounded.

According to the scheme, the welding loop and the control loop are isolated from each other through the isolation transformer, and the grounding of the welding loop and the grounding of the control loop are also isolated from each other, so that the damage of the voltage and the current of the welding loop to a controller of the control loop can be avoided.

Drawings

Fig. 1 is a structural diagram of a laser sensing smart welding robot to which an embodiment of the apparatus of the present invention is applied.

Fig. 2 is a structural diagram of a hidden part of a housing of a laser sensing intelligent welding robot to which an embodiment of the device of the invention is applied.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a partial structural view of a laser sensing intelligent welding robot to which an embodiment of the apparatus of the present invention is applied.

Fig. 5 is an exploded view of an embodiment of the present invention.

Fig. 6 is an exploded view of another perspective of the device of the present invention.

FIG. 7 is a structural diagram of a tray, a rail and an aluminum mold plate according to an embodiment of the apparatus of the present invention.

Fig. 8 is a partial enlarged view at B in fig. 7.

Fig. 9 is an exploded view of the clamp and rail of an embodiment of the apparatus of the present invention.

FIG. 10 is a structural diagram of a tray and an aluminum mold plate according to an embodiment of the present invention.

Fig. 11 is a partial enlarged view at C in fig. 10.

FIG. 12 is a structural view of the tray and the aluminum mold plate from another perspective of the apparatus of the present invention.

Fig. 13 is a block diagram of a compacting unit of an embodiment of the apparatus of the present invention.

Fig. 14 is an electrical schematic of the power circuit of an embodiment of the apparatus of the present invention.

FIG. 15 is an electrical schematic of a controller, optocoupler, and high voltage device of an embodiment of the apparatus of the invention.

Fig. 16 is a flow chart of a method embodiment of the present invention.

The invention is further explained with reference to the drawings and the embodiments.

Detailed Description

The device for separating the welding loop grounding and the control grounding of the intelligent laser sensing welding robot is applied to the intelligent laser sensing welding robot, and referring to fig. 1, the intelligent laser sensing welding robot comprises a frame 1, a plurality of guide rails, such as

guide rails

11 and 12, are arranged on the frame 1, and the guide rails are arranged in parallel. The guide rails 11 and 12 extend in the longitudinal direction of the laser-sensing smart welding robot. A tray 21 is placed on the guide rail, and the aluminum mold plate 10 can be placed on the tray 21 and welded. A hood 6 is arranged above the rack 10, referring to fig. 2, three portal frames are arranged in the hood 6, one portal frame 43 is provided with a scanner 41, the other 2 portal frames 52 are provided with welding guns 51, referring to fig. 3, the tail ends 511 of the welding guns 51 are cylinders, and the welding guns need to be in contact with the aluminum template 10 and realize welding of the aluminum template 10 during welding.

In this embodiment, the gantry 43 and the gantry 52 can move along the length direction of the laser sensing intelligent welding robot, and the welding torch 51 can move along the vertical direction and the width direction of the laser sensing intelligent welding robot relative to the gantry 52, so that the welding torch 51 can move in three mutually perpendicular directions.

An aluminum template clamp 2 and a driving device 3 are arranged on the frame 1, in this embodiment, the number of the aluminum template clamp 2 and the driving device 3 is two, wherein the driving device 3 comprises a guide rail assembly 12, one aluminum template clamp 2 is slidably mounted on a guide rail 12 of one driving device 3, and the driving device 3 is used for driving the aluminum template clamp 2 to move along the guide rail 12.

Referring to fig. 4 and 5, the aluminum mold plate clamp 2 includes a tray 21 and a pressing unit 22, the tray 21 is slidably mounted on the guide rail 12 along an extending direction of the guide rail 12, the tray 21 has a receiving position 211, and the receiving position 211 is used for receiving the aluminum mold plate 10 to be processed. As can be seen in connection with fig. 10, the tray 21 has a first sidewall 212, a second sidewall 213, a third sidewall 214 and an opening 215, the first sidewall 212 is parallel to the second sidewall 213, and the first sidewall 212 and the second sidewall 213 are distributed along the width of the rack 10. A third side wall 214 and an opening 215 are distributed along the length of the housing 10, the opening 215 being formed at a first end of the first side wall 212, the third side wall 214 being connected to a second end of the first side wall 212 and a second end of the second side wall 213, respectively. Wherein, in the feeding direction in which the driving device 3 drives the aluminum template holder 2 to move to the lower part of the scanner 41 for scanning, the opening 215 is positioned at the upstream end of the third side wall 214, and the feeding direction is parallel to the length direction of the frame 1. Third lateral wall 214 plays the effect of carrying on spacingly to aluminium mould board 10 in the length direction of frame 1, prevents that aluminium mould board 10 from stretching out the second end of first lateral wall 212, and the setting of opening 215 then makes more convenient when putting into holding position 211 of tray 21 with aluminium mould board 10.

When welding the aluminum mold plate 10, the current of the welding torch 51 flows into the aluminum mold plate 10, and since the pressing unit 22 clamps the aluminum mold plate 10 in this embodiment, the current flowing through the aluminum mold plate 10 flows through the pressing unit 22. Referring to fig. 5 and 6, the tray 21 includes a base 218, the base 218 is located above the guide rail 12, and since the tray 21 is charged and the tray is made of a metal material, the current on the tray 21 flows through the guide rail 12. Since the guide rail 12 is arranged above the frame 1, if the frame 1 is charged, the personal safety of the operator will be affected. For this purpose, an insulating layer 16 is provided above the machine frame 1, so that the insulation between the guide rail 12 and the machine frame 1 is achieved and the current of the guide rail 12 is prevented from flowing through the machine frame 1. Preferably, the control circuit ground is connected to the frame 1, and the welding circuit is electrically isolated from the control circuit ground by an insulating layer 16.

Referring back to fig. 3, the welding gun 51 is held by a welding gun holder 512, the welding gun holder 512 is fixed to a connection plate 513, and the connection plate 513 is disposed on the gantry 52. Since the welding torch 51 is a high voltage device receiving a higher voltage, the gantry 52 is connected to the frame 1, and the ground of the control circuit is connected to the frame 1, in order to ensure that the welding circuit is electrically isolated from the control circuit, in the present embodiment, at least one of the welding torch holder 512 and the connecting plate 513 is made of an insulating material, so that the electrical isolation of the welding circuit from the control circuit can be ensured.

Referring to fig. 7 and 8, a clamp 28 is disposed below the base 218, and the clamp 28 is clamped to the rail 12. Preferably, 6 clips 28 are disposed below the base 218, wherein three clips 28 are disposed below the first sidewall 212 and the other three clips 28 are disposed below the second sidewall 213. The 3 clamps located under the same side wall are arranged along a straight line and clamped on the same guide rail.

Referring to fig. 9, the clamp 28 has two

clamp arms

218, 282, the two

clamp arms

218, 282 are respectively located at both sides of the clamp 28, a clamp space 283 is formed between the two

clamp arms

281, 282, and the upper portion of the guide rail 12 is located in the clamp space 283. As can be seen in fig. 9, each of the gripping

arms

281, 282 is provided with a projection projecting towards the middle. Both side walls of the guide rail 12 are formed with

recesses

121 and 122, respectively, the recess 121 corresponding to the clamp arm 281 and the recess 122 corresponding to the clamp arm 282, and the recess 121 has the same recess shape as the clamp arm 281 and the recess 122 has the same recess shape as the clamp arm 282. In this way, the clamp 28 can be securely clamped over the rail 12.

Referring to fig. 10, the aluminum mold plate jig 2 further includes a pressing unit 22, a copper bar 23, a roller set 24, a first opposite emission type photosensor 25, a second opposite emission type photosensor 26, and a distance measuring sensor 27. Wherein, the pressing unit 22 comprises a pressing component 221 and a driving mechanism 222, and the pressing component 221 is located in the accommodating position 211. The pressing assembly 221 is disposed near the first sidewall 212 of the tray 21, and the driving end of the driving mechanism 222 is fixedly connected to the pressing assembly 221, so that the driving mechanism 222 can drive the pressing assembly 221 to move relative to the second sidewall 213 of the tray 21, so as to press and fix the aluminum mold plate 10 in the accommodating position 211.

Referring to fig. 11-13, the hold-down assembly 221 includes a connecting rod 2211, a pressure rod 2212 and a spring, the connecting rod 2211 being fixedly connected to the drive end of the drive mechanism 222. The pressing bar 2212 is positioned between the connecting bar 2211 and the second side wall 213, and the pressing bar 2212 extends along the length direction of the rack 1. The pressing rod 2212 is provided with more than two connecting shafts 2213, the more than two connecting shafts 2213 are distributed along the length direction of the rack 1, and the connecting shafts 2213 extend along the width direction of the rack 1. The connecting shaft 2213 is slidably connected to the connecting rod 2211 in its own axial direction, so that the pressing rod 2212 can move in the width direction of the chassis 1 relative to the connecting rod 2211. The number of springs is preferably equal to the number of connecting shafts 2213, and one spring is preferably sleeved on one connecting shaft 2213, and in addition, both ends of the spring are respectively abutted against the connecting rod 2211 and the pressing rod 2212.

In this embodiment, the driving mechanism 222 includes a linear module 2221 and a motor, the linear module 2221 is fixedly connected to the tray 21, a lead screw of the linear module 2221 extends along the width direction of the rack 1, and a sliding table 2222 of the linear module 2221 is fixedly connected to the connecting rod 2211 of the pressing assembly 221. The motor is installed on sharp module 2221, and the motor is used for driving the lead screw rotation of sharp module 2221, and then makes slip table 2222 drive and compress tightly subassembly 221 and move in the width direction of frame 1 to compress tightly or remove the compressing tightly to aluminium template 10 in holding the position 211. Of course, in other embodiments, the driving mechanism 222 may also be an electric cylinder, and when the driving mechanism 222 is an electric cylinder, the electric cylinder is fixedly mounted on the tray 21, and a push rod of the electric cylinder is parallel to the width direction of the frame 1, and furthermore, an extended end of the push rod of the electric cylinder is fixedly connected to the connecting rod 2211 of the pressing assembly 221 so as to drive the pressing assembly 221 to move in the width direction of the frame 1.

The copper bar 23 extends along the width direction of the rack 1, and the copper bar 23 is installed on the surface of the pressing rod 2212 of the pressing assembly 221 and is located on the side of the pressing rod 2212 opposite to the second side wall 213 of the tray 21. The copper bar 23 is used for forming a welding loop with the welding gun 51, and the copper bar 23 is installed on the pressing assembly 221, so that when the driving mechanism 222 of the pressing unit 22 drives the pressing assembly 221 to move towards the aluminum template 10 in the accommodating position 211 so as to press the aluminum template 10, the copper bar 23 can move towards the aluminum template 10 along with the pressing assembly 221 until abutting against the aluminum template 10, so that the welding loop is formed between the copper bar 23 and the welding gun 51 when the aluminum template 10 is welded. In addition, the copper bar 23 may be connected to the base 218 of the tray 21 by an electric wire.

Through installing copper bar 23 on the depression bar 2212 that compresses tightly subassembly 221 for compress tightly unit 22 when compressing tightly aluminum mould board 10 on tray 21, copper bar 23 can carry out the large tracts of land contact with aluminum mould board 10, and prevent that aluminum mould board anchor clamps 2 from being transferred in-process copper bar 23 break away from the contact with aluminum mould board 10, guarantee that the welding adds the welding and does not cut off with man-hour welding return circuit, make welder 51 can normally carry out welding process to aluminum mould board 10, improved welding return circuit's stability simultaneously. Furthermore, through the structural design to compressing tightly subassembly 221 for copper bar 23 just contacts with aluminium template 10, compresses tightly subassembly 221 and can play certain cushioning effect to prevent that copper bar 23 and compressing tightly subassembly 221 from carrying out the hard contact with aluminium template 10, thereby avoid aluminium template 10, copper bar 23, compress tightly one or more in the subassembly 221 impaired. In addition, be provided with the second insulating layer between guide rail 12 and the frame 1 for the electric current on the copper bar 23 can't flow to on the frame 1, and ensure the security of frame 1.

Preferably, the number of the pressing units 22 is more than two, and the more than two pressing units 22 are distributed along the length direction of the frame 1, such as in the present embodiment, the number of the pressing units 22 is two. By setting the number of the pressing units 22 to be more than two, the aluminum formwork clamp 2 can reliably press the aluminum formworks 10 with different lengths, and the structure of the pressing units 22 and the structure of the aluminum formwork clamp 2 are better optimized.

The roller set 24 is located in the receiving position 211 of the tray 21, and the roller set 24 is located below the pressing assembly 221. The roller set 24 comprises a plurality of rollers which are distributed along the length direction of the frame 1, and each roller extends along the width direction of the frame 1. In addition, each roller is rotationally connected with the tray 21 around the axis of the roller, and the arrangement of the roller group 24 enables the aluminum template 10 to be more convenient and labor-saving when being placed into the containing position 211 of the tray 21.

Referring to fig. 12, the first opposite-emitting type photoelectric sensor 25 is located between the opening 215 of the tray 21 and the pressing assembly 221, and the first opposite-emitting type photoelectric sensor 25 is used for detecting whether the aluminum mold plate 10 is placed in the accommodating position 211, so that the laser sensing smart welding robot can know the load state of the aluminum mold plate clamp 2 in real time, thereby facilitating the laser sensing smart welding robot to perform related operations, such as reminding an operator or enabling a related operating device to place the aluminum mold plate 10 on the aluminum mold plate clamp 2. Specifically, the first opposite-emitting type photosensor 25 includes a first emitting end and a first receiving end 252, wherein the first emitting end is mounted on the first sidewall 212, and the first receiving end 252 is mounted on the second sidewall 213, but as another alternative, the first emitting end may be mounted on the second sidewall 213, and the first receiving end 252 may be mounted on the first sidewall 212.

Second correlation type photoelectric sensor 26 position is in the opening 215 department of tray 21, and second correlation type photoelectric sensor 26 is used for detecting whether the position of placing of aluminium template 10 is correct on aluminium template anchor clamps 2 for laser sensing intelligence welding robot can know the position of placing of aluminium template 10 on aluminium template anchor clamps 2 in real time, in order when the position of placing of aluminium template 10 is unusual, laser sensing intelligence welding robot can in time remind operating personnel or make relevant operating means adjust, rectify the position of placing of aluminium template 10. Specifically, the second opposite-type photosensor 26 includes a second emitting end 261 and a second receiving end 262, wherein the second emitting end 261 is mounted on the first sidewall 212, and the second receiving end 262 is mounted on the second sidewall 213. Similarly, as an alternative, the second transmitting end 261 may be mounted on the second sidewall 213, and the second receiving end 262 may be mounted on the first sidewall 212.

The distance measuring sensor 27 is disposed at the third sidewall 214, and a detection end of the distance measuring sensor 27 is located above the receiving position 211 and disposed toward the opening 215. The distance measuring sensor 27 is used for measuring the length of the aluminum template 10, so that the laser sensing intelligent welding robot can control the welding gun 51 to perform adaptive processing on the aluminum template 10.

The driving device 3 further comprises a rack 31 and a servo motor 32, wherein the rack 31 extends along the length direction of the rack 1, and the rack 31 is installed on the rack 1. A servo motor 32 is installed on the tray 21 of the aluminum template clamp 2, a gear 33 is fixedly installed on a motor shaft of the servo motor 32, and the gear 33 is meshed with the rack 31, so that the servo motor 32 can drive the aluminum template clamp 2 to move back and forth along the length direction of the frame 1 through the gear 33 and the rack 31. Preferably, the rack 31 is a helical rack and the gear 33 is a helical gear.

Since the aluminum mold 10 is generally a long piece, the driving device 3 can accurately and reliably transport the aluminum mold clamp 2 by the structural design of the driving device 3. In addition, all set up guide rail 12, aluminium template anchor clamps 2 and drive arrangement 3's quantity into two and make when vision system 4 scans the aluminium template 10 on one aluminium template anchor clamps 2, welder 51 can weld aluminium template 10 on another aluminium template anchor clamps 2 and process, thereby eliminate or reduce welder 51's no-load latency, the effectual welding efficiency that improves laser sensing intelligent welding robot, make laser sensing intelligent welding robot can satisfy the processing demand in batches.

In order to better realize the electrical isolation of the welding loop from the control loop, the present embodiment is provided with an isolation transformer, referring to fig. 14, the power circuit of the laser sensing intelligent welding robot includes an ac contactor 61 and an isolation transformer 62, and ac power passes through the ac contactor 61 to supply power to the welding loop, for example, to supply power to the welding gun 51. The primary side of the isolation transformer 62 is electrically connected to the ac contactor 61, and the secondary side of the isolation transformer 62 supplies power to the control circuit, for example, the secondary side of the isolation transformer 62 is connected to a rectifying circuit 63, and the ac power output by the isolation transformer 62 is rectified to form dc power and then output to each device of the control circuit, such as a controller or a servo motor. Because the voltage of the welding gun 61 is high and the current flowing through the welding gun is large, the influence of the large current of the welding loop on the components of the control loop can be avoided after the isolation transformer 62 is arranged.

The transformation ratio of the isolation transformer 62 may be 1: 1, or 2: 1 or 3: 1, equal ratio, if the transformation ratio of the isolation transformer 62 is 1: 1, the primary side voltage and the secondary side voltage of the isolation transformer 62 are equal. However, since the welding loop voltage is high and the control loop voltage is low, the transformation ratio of the isolation transformer 62 may be other than 1: for example, the voltage on the secondary side of the isolation transformer 62 is lower than the voltage on the primary side. Of course, the control loop needs to step down the voltage output by the isolation transformer 62 according to the different rated voltages of the devices.

Since the high-voltage device of the welding circuit needs to be controlled by the controller of the control circuit, if the low-voltage controller directly outputs a control signal to the high-voltage device, the low-voltage device needs to be directly electrically connected with the high-voltage device, and the current of the high-voltage device may cause interference to the low-voltage device. Therefore, the photoelectric coupler is arranged to realize the isolation of the high-voltage device and the low-voltage device.

Referring to fig. 15, the controller 65 is a low-voltage device on the control loop, and the signal output by the controller 65 is received by the photocoupler 66, for example, two pins of a light emitting diode of the photocoupler 66 are respectively connected to two output pins of the controller 65, a collector of a phototriode of the photocoupler 66 is connected to a power source VCC of the welding loop, an emitter of the phototriode is connected to a high-voltage device 67, the high-voltage device may be a welding torch, a smoke purifier, or the like, and the number of welding torches may be one or two.

When the controller 65 outputs a high level signal, the light emitting diode emits light, the phototriode is in a conducting state, and the high-voltage device 67 is powered; when the controller 65 outputs a low level signal, the light emitting diode does not emit light, the phototriode is in a non-conducting state, and the high-voltage device 67 loses power. In this way, the low-voltage controller 65 can be prevented from being directly electrically connected to the high-voltage device 67 by the photocoupler 66.

The working method of the device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot is described in conjunction with fig. 16. First, the laser sensing smart welding robot is powered on, for example, an ac power supply of 220V or 380V is connected, the ac contactor receives ac power, and step S1 is executed, the ac power passing through the ac contactor flows to the welding circuit, that is, the ac contactor supplies power to the high voltage device of the welding circuit, for example, to the welding gun. Of course, since the high-voltage device such as the welding gun is controlled by the controller, the welding gun does not operate until the controller does not send out the start control signal, but the welding gun is powered on at the moment.

Then, step S2 is executed, and the current passing through the ac contactor flows through the isolation transformer. Because the primary side of the isolation transformer is connected to the ac contactor, when the ac contactor is powered on, the primary side of the isolation transformer is also powered on, and at this time, the isolation transformer operates and a voltage is formed on the secondary side.

Next, step S3 is executed, in which the current passing through the isolation transformer flows to the controller of the control loop, for example, power is supplied to the controller and the color camera. At this time, step S4 is executed, and the controller is powered on and performs work according to the instruction from the operator, for example, the driving motor is rotated to move the welding gun or the color camera, the welding gun is controlled to start work, and the like. When the controller is powered on, the current flowing through the controller flows to the control circuit ground, which is connected to the rack in this embodiment.

Then, step S5 is executed, the controller sends out a control signal, the control signal sent out by the controller is received by the photoelectric coupler, the light emitting diode of the photoelectric coupler receives the high level signal and then emits light, and the photoelectric triode outputs the high level signal, at this time, the high voltage device such as the welding gun works under the driving of the control signal. Finally, step S6 is executed, the high-voltage device is powered on, and the current passing through the high-voltage device flows through the welding workpiece such as the aluminum template, and flows through the copper bar to the welding circuit to be grounded.

Because the welding loop is grounded and arranged on the tray, current can flow to the guide rail through the tray, but an insulating layer is arranged between the guide rail and the rack, so that the grounding of the welding loop is separated from the grounding of the control loop, the current of the welding loop cannot influence the control loop, and stable work of devices of the control loop is ensured. In addition, because the copper bar setting is in the one side that compresses tightly the unit, like this, the copper bar both was used for carrying out centre gripping, fixed to the aluminium template, as the electrically conductive device in welding return circuit again for the design in welding return circuit is more reasonable, and the device that uses is few, reduces the manufacturing cost of laser sensing intelligence welding robot, and the small of tray is favorable to the welding of aluminium template.

Certainly, in practical applications, the welding loop and the control loop are not necessarily completely and absolutely isolated on the electrical loop, for example, a large resistor or an inductor is arranged between the welding loop and the control loop, or a large resistor and a large inductor are arranged, and the electrical isolation between the welding loop and the control loop can be realized, so that the interference of the welding loop on the control loop can be reduced, the same ground point potential between the welding loop and the control loop is ensured, and the safety is facilitated.

Finally, it should be emphasized that the present invention is not limited to the above-described embodiments, such as the change of the shapes of the clamping arms and the guide rails of the tray, or the change of the transformation ratio of the isolation transformer, and such changes should be included in the protection scope of the claims of the present invention.

Claims

1. A device for separating the welding loop ground from the control ground of a laser sensing intelligent welding robot comprises:

the guide rail is arranged on the frame of the laser sensing intelligent welding robot, and a tray is arranged on the guide rail;

the method is characterized in that:

a pressing unit is arranged on the tray, a copper bar is arranged on one side of the pressing unit and can be abutted against a workpiece to be welded, and the copper bar is connected to a welding circuit and is grounded;

the laser sensing intelligent welding robot comprises a rack, wherein an insulating layer is arranged on the rack, a guide rail is arranged above the insulating layer, and a control loop of the laser sensing intelligent welding robot is grounded and connected with the rack.

2. The device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot according to claim 1, characterized in that:

the tray comprises a base, wherein a clamping piece is arranged below the base, and the clamping piece is clamped on the guide rail.

3. The device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot according to claim 2, characterized in that:

the clamping piece comprises two clamping arms extending downwards, and the two clamping arms are respectively positioned on two sides of the guide rail;

two side surfaces of the guide rail are provided with recessed portions, and the two clamping arms are respectively matched with the recessed portions.

4. The device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot according to claim 2 or 3, characterized in that:

the pressing unit comprises a connecting rod, one side of the connecting rod is provided with a pressing rod, and the pressing rod is connected with the connecting rod through a pressing component;

the copper bar is fixed on the surface of the pressure bar.

5. The device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot according to claim 4, characterized in that:

the base includes a pair of side walls, and the connecting bar is disposed adjacent one of the side walls.

6. The device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot according to claim 2 or 3, characterized in that:

the copper bar is electrically connected with the base.

7. The device for separating the welding loop ground and the control ground of the laser sensing intelligent welding robot according to any one of claims 1 to 3, characterized in that:

the laser sensing intelligent welding robot is provided with a power circuit, the power circuit comprises an alternating current contactor and an isolation transformer, and the alternating current contactor supplies power to a welding loop;

the primary side of the isolation transformer is connected to the alternating current contactor, and the secondary side of the isolation transformer supplies power to the control loop.

8. The device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot according to claim 7, characterized in that:

the voltage of the secondary side of the isolation transformer is equal to or less than the voltage of the primary side of the isolation transformer.

9. The device for separating the welding loop ground from the control ground of the laser sensing intelligent welding robot according to claim 7, characterized in that:

the control loop comprises at least one controller, the welding loop comprises at least one high-voltage device, and the controller outputs a control signal to the high-voltage device;

the controller outputs the control signal to a photoelectric coupler, and the high-voltage device receives the signal output by the photoelectric coupler.

10. The working method of the device for separating the welding loop ground and the control ground of the laser sensing intelligent welding robot according to any one of the claims 7 to 9, characterized in that:

the alternating current contactor outputs alternating current to a high-voltage device of a welding loop, and current passing through the high-voltage device flows to the welding loop to be grounded after passing through the workpiece to be welded and the copper bar;

the alternating current contactor outputs alternating current to an isolation transformer, current passing through the isolation transformer is output to a controller of a control loop, and the current passing through the controller flows to the control loop and is grounded.