CN113199197A - Automatic angle regulation's welding angle locator - Google Patents
Automatic angle regulation's welding angle locator Download PDFInfo
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- CN113199197A CN113199197A CN202110423663.4A CN202110423663A CN113199197A CN 113199197 A CN113199197 A CN 113199197A CN 202110423663 A CN202110423663 A CN 202110423663A CN 113199197 A CN113199197 A CN 113199197A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
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Abstract
The invention relates to a welding angle positioner capable of automatically adjusting an angle, which comprises a positioning module, an adjusting module and a control module, wherein the positioning module comprises two fixed arms, two adjusting arms and two fixed parts, and the fixed parts are used for fixing a weldment; the adjusting module comprises a sliding rod, a sliding sleeve and a driver; the control module comprises a microcontroller and a distance sensor, and the microcontroller is electrically connected with the driver; distance sensor installs in the sliding sleeve, and distance sensor and microcontroller electric connection, distance sensor are used for detecting the interval between the head end of fixed wall and the head end of regulating arm. The welding piece to be welded is fixed through the two fixing parts in the positioning module, the distance between the head end of the fixing arm and the head end of the adjusting arm is changed by adjusting the position of the sliding sleeve on the sliding rod, so that the included angle between the two fixing arms is changed, the adjustment of the positioning angle is further realized, and in addition, the automatic adjustment of the positioning angle is realized through the driver, the microcontroller and the distance sensor.
Description
Technical Field
The invention relates to the technical field of tool fixtures, in particular to a welding angle positioner capable of automatically adjusting an angle.
Background
In the production process, a plurality of weldments such as supporting pieces, connecting pipe fittings and the like with different connecting angles need to be welded manually, and workers usually use a welding angle positioner to position the weldments and assist the workers to work so as to achieve the best welding effect.
The welding positioning devices for manual welding currently existing in the market are mainly of two types:
the first is a multi-angle right-angle welding positioner, applicable fixed angles are 30 degrees, 45 degrees, 60 degrees, 75 degrees and 90 degrees;
the second type is an adjustable welding positioning device, the applicable angle of which can be adjusted manually, but the division value is 5 degrees, and the precision is insufficient.
In actual manual welding process, welding angle is very important and nimble changeable, and above-mentioned first kind locator obviously can not satisfy the welding angle's of arbitrary change demand, and above-mentioned second kind locator can angle regulation, but all need artifical measurement and manual fixed position angle when using at every turn, not only too loaded down with trivial details, has seriously influenced work efficiency, and artifical regulation still can have very big error.
Disclosure of Invention
In view of this, it is necessary to provide a welding angle positioner capable of automatically adjusting an angle, so as to solve the problems that the welding angle positioner in the prior art cannot be automatically adjusted and has a large error.
The invention provides a welding angle positioner capable of automatically adjusting an angle, which is used for welding at least two weldment and comprises:
the positioning module comprises at least two fixed arms, at least two adjusting arms and at least two fixed parts, wherein the fixed arms are provided with a head end and a tail end, and the head ends of the fixed arms are rotatably connected together; the adjusting arm is also provided with a head end and a tail end, the head ends of the adjusting arms are rotatably connected together, and the tail ends of the adjusting arms are respectively hinged to the tail ends of the fixed arms in a one-to-one correspondence manner; the fixing parts are respectively arranged on the fixing arms in a one-to-one correspondence manner and are used for fixing welding pieces;
the adjusting module comprises a sliding rod, a sliding sleeve and a driver, wherein one end of the sliding rod is connected to the head end of the fixed arm; the sliding sleeve is slidably sleeved on the sliding rod and connected to the head end of the adjusting arm; the driver is used for driving the sliding sleeve to move on the sliding rod;
the control module comprises a microcontroller and a distance sensor, and the microcontroller is electrically connected with the driver; distance sensor installs in the sliding sleeve, and distance sensor and microcontroller electric connection, distance sensor are used for detecting the interval between the head end of fixed wall and the head end of regulating arm.
Optionally, the sliding rod is a screw rod, and the sliding sleeve is a ball nut.
Optionally, the driver includes a stepping motor and a stepping motor drive board, wherein an output end of the stepping motor is coaxially and fixedly connected with one end of the sliding rod away from the positioning module, the stepping motor drive board is electrically connected with the stepping motor, and the stepping motor drive board is electrically connected with the microcontroller.
Optionally, the fixed arm and the adjusting arm are both 100mm in length, the screw pitch of the lead screw is 4mm, and the step angle of the stepping motor is 1.8 °.
Optionally, the fixed part is a magnet.
Optionally, the fixed part is a neodymium magnet, and the surface of the neodymium magnet is sealed by an epoxy resin coating.
Optionally, the number of the positioning modules is two, each positioning module comprises two fixing arms, two adjusting arms and two fixing portions, the two fixing arms and the two adjusting arms in each positioning module are located on the same plane, and planes where the fixing arms in the two positioning modules are located are parallel to each other.
Optionally, the fixing portions are located inside the two positioning modules, a projection of the fixing portion of one positioning module and a projection of the fixing portion of the other positioning module along the rotating shaft direction of the fixing arm coincide, and a space is formed between the fixing portion of one positioning module and the corresponding fixing portion of the other positioning module.
Optionally, the distance sensor is a laser sensor, the distance sensor is mounted on the sliding sleeve, and the detection end of the distance sensor faces the head end of the fixing arm.
Optionally, the display is a touch screen, the display is electrically connected with the microcontroller, and the microcontroller is a single chip microcomputer.
According to the welding angle positioner capable of automatically adjusting the angle, provided by the invention, a weldment to be welded is fixed through any two fixing parts in the positioning module, and the distance between the head ends of the fixing arms and the head end of the adjusting arm is changed by adjusting the position of the sliding sleeve on the sliding rod, so that the included angle between the two fixing arms is changed, and the adjustment of the positioning angle is further realized. Driver, microcontroller and distance sensor then have realized the automatically regulated of location angle, and the operator only need be through host computer or other input device input target angle, and microcontroller alright with give out the instruction to the driver to the control sliding sleeve removes on the slide bar, and distance sensor feeds back microcontroller or other input device with the distance information of reality, revises the operation of driver. Compared with the existing welding angle positioner, the automatic angle adjusting device has the advantages that the automatic angle adjusting function is realized, and the automatic angle adjusting device also has the following advantages:
(1) the angle control is skillfully converted into linear control, in actual implementation, the angle control structure is not easy to calculate and design, a component such as an angle sensor is difficult to find a proper position for installation, the angle control structure is damaged, the anti-interference capability is poor, and the linear control is relatively simple and flexible, high in stability and good in interchangeability. Most importantly, the precision of the linear motion is easier to ensure, so the invention can have lower cost while ensuring the precision;
(2) feedback adjustment can be realized through the distance sensor, the influence of noise, vibration and other interferences on a welding site on signal transmission can be effectively suppressed, errors caused by grinding of parts and the like can be made up, and control precision is further improved;
(3) the control module is far away from the welding part, so that the probability that the fragile control module is damaged by heat and sparks generated during welding is reduced, the service life is prolonged, the anti-interference performance is enhanced, and the operation stability is ensured;
(4) the structural design of fixed arm and regulating arm can reduce the stress that receives when welding effectively, prevents the cracked condition of fixed point, guarantees the safety of during operation.
Drawings
Fig. 1 is a schematic structural diagram of a welding angle positioner capable of automatically adjusting an angle according to a first embodiment of the present invention;
FIG. 2 is a top view of an automatic angle adjustment welding angle positioner according to a first embodiment of the present invention;
FIG. 3 is a side view of a self-adjusting angle welding positioner according to a first embodiment of the present invention;
FIG. 4 is a connection diagram of a control module according to a first embodiment of the present invention;
fig. 5 is a stress simulation result of the welding angle positioner for automatically adjusting an angle under a 30 ° working condition according to the first embodiment of the present invention;
fig. 6 is a simulation result of stress under a 150 ° working condition of the welding angle positioner for automatically adjusting the angle according to the first embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example one
Referring to fig. 1 to 3, a welding angle positioner capable of automatically adjusting an angle according to an embodiment of the present invention includes a positioning module 1, an adjusting module 2, and a control module 3. The positioning module 1 comprises at least two fixed arms 11, at least two adjusting arms 12 and at least two fixed parts 13, wherein the fixed arms 11 are provided with a head end and a tail end, and the head ends of the fixed arms 11 are rotatably connected together; the adjusting arm 12 also has a head end and a tail end, the head ends of the adjusting arms 12 are rotatably connected together, and the tail ends of the adjusting arms 12 are respectively hinged to the tail end of the fixing arm 11 in a one-to-one correspondence manner; the fixing portions 13 are respectively installed on the fixing arms 11 in a one-to-one correspondence, and the fixing portions 13 are used for fixing the weldment. The adjusting module 2 comprises a sliding rod 21, a sliding sleeve 22 and a driver 23, wherein one end of the sliding rod 21 is connected to the head end of the fixed arm 11; the sliding sleeve 22 is slidably sleeved on the sliding rod 21, and the sliding sleeve 22 is connected to the head end of the adjusting arm 12; the driver 23 is used for driving the sliding sleeve 22 to move on the sliding rod 21; the control module 3 comprises a microcontroller 31 and a distance sensor 32, wherein the microcontroller 31 is electrically connected with the driver 23; the distance sensor 32 is installed on the sliding sleeve 22, the distance sensor 32 is electrically connected with the microcontroller 31, and the distance sensor 32 is used for detecting the distance between the head end of the fixed wall and the head end of the adjusting arm 12.
In the embodiment of the invention, the two fixing parts 13 in the positioning module 1 are used for fixing the weldment to be welded, and the distance between the head end of the fixing arm 11 and the head end of the adjusting arm 12 is changed by adjusting the position of the sliding sleeve 22 on the sliding rod 21, so that the included angle between the two fixing arms 11 is changed, and further the adjustment of the positioning angle is realized. The driver 23, the microcontroller 31 and the distance sensor 32 realize automatic adjustment of the positioning angle, an operator only needs to input a target angle through an upper computer or other input equipment, the microcontroller 31 can send an instruction to the driver 23 to control the sliding sleeve 22 to move on the sliding rod 21, and the distance sensor 32 feeds actual distance information back to the microcontroller 31 or other input equipment to correct the operation of the driver 23.
Further, the sliding rod 21 in this embodiment is a screw rod, and the sliding sleeve 22 is a ball nut. The ball screw mechanism is a high-precision transmission device, adopts rolling friction screw instead of sliding friction screw, and has the advantages of small abrasion, high transmission efficiency, stable transmission, long service life, high precision, low temperature rise and the like. It is understood that the screw and the ball nut are only used as a preferred embodiment in the present embodiment, and the sliding rod 21 and the sliding sleeve 22 may be a conventional sliding rod and a collar, a threaded screw, or other sliding pairs.
Further, the driver 23 in this embodiment includes a stepping motor 231 and a stepping motor driving board 232, wherein an output end of the stepping motor 231 is coaxially and fixedly connected to an end of the sliding rod 21 away from the positioning module 1, the stepping motor driving board 232 is electrically connected to the stepping motor 231, the stepping motor driving board 232 is electrically connected to the microcontroller 31, and in this embodiment, the stepping motor driving board 232 and the rotating module of the stepping motor 231 are integrated together. The stepping motor 231 can receive the digital control signal and convert the digital control signal into an angular displacement corresponding to the digital control signal, and a PID control strategy can be adopted, so that the whole welding angle positioner capable of automatically adjusting the angle has the advantages of strong robustness, high reliability and the like.
Further, in the present embodiment, the specification of the stepping motor 231 is 28 × 40mm, the input current is 0.7A, the stepping angle is 1.8 °, the holding torque is 90mNm, and the operating speed is 15 mm/s; the length of the lead screw in this embodiment is 200mm, the thread specification is Tr5, the thread pitch is 4mm, the lead screw and the stepping motor 231 are integrated into a whole, and in addition, the length of the fixed arm 11 and the length of the adjusting arm 12 in this embodiment are both 100 mm. In the actual manual welding process, the positioning included angle is generally in the range of 30-150 degrees, the excessive or insufficient angle can cause the unreasonable structure of the joint and the welding can not be carried out, and the precision of the positioner reaches 0.5 degree, so that the manual welding requirement can be well met, and the purpose of being more accurate than the existing positioning mode is achieved. The precision can be easily achieved by adopting the parts with the specifications in the embodiment, and the specific derivation process is as follows:
note that the length of the fixed arm 11 and the adjusting arm 12 is D, the distance between the head end of the fixed arm 11 and the head end of the adjusting arm 12 is L, and the included angle between the two fixed arms 11 is θ, then the following relation can be obtained:
taking discrete values at intervals of 0.5 ° for angle θ, the data in table 1 can be obtained:
TABLE 1 comparison of the angle between the fixing arms 11 and the distance between the head ends of the fixing arms 11 and the head ends of the adjusting arms 12
It can be seen from table 1 that the included angle between the fixed arms 11 can be changed within 0.5 degrees only by ensuring that the distance L between the head ends of the fixed arms 11 and the head ends of the adjusting arms 12 is changed within the range of 0.1mm, that is, the moving distance of the ball nut on the screw rod is less than 0.1 mm. The screw pitch of the screw rod in the embodiment is 4mm, and the step angle of the stepping motor 231 is 1.8 degrees, so that the minimum displacement of the ball nut moving on the screw rod once can be only 0.02mm, and the precision requirement can be obviously met.
Further, the specification of the above-mentioned parts such as the stepping motor 231, the lead screw and the like is only a preferred embodiment of the present invention, and in practical use, the present invention also allows engineers to conveniently and easily select appropriate parameters according to needs, for example:
the derivative with respect to L for θ in the above relation can be further derived as:
the derivative of θ is the relationship between the included angle between the fixed arms 11 and the displacement of the ball nut, i.e. the relationship between the desired angle precision and the lead screw precision, and then the relationship between the derivative of θ and D can be obtained by combining the relational expression of L and D, and at this time, the specification of each part can be conveniently obtained according to the precision of actual needs and by combining the information of the selectable lead screw and the model of the stepping motor 231, the required size and the like. Most importantly, the existing standard parts can be conveniently selected for the parts such as the screw rod, the stepping motor 231 and the like in the design process, the parts are convenient to purchase, the parts do not need to be additionally designed for precision, the work of process research, proofing test and the like of the parts is not needed, the production design period can be greatly shortened, and meanwhile, the screw rod, the stepping motor and the like have good interchangeability and are convenient to follow-up repair and replacement. These advantages are not available with existing angular positioners.
Further, the fixing portion 13 in this embodiment is a magnet, and is connected to the fixing arm 11 by a snap rivet. Can directly adsorb the weldment through magnet during the use, need not extra operations such as fixed, locking during the dismouting, improve work efficiency. Because the temperature between the welding seam layers is high, the magnet can be demagnetized due to the fact that the temperature is rapidly increased near the welding point, meanwhile, the strong magnet is fragile, and the magnetic field of the strong magnet can influence the precision of an electronic element, so that the selection of the proper magnet is very important. In this embodiment, neodymium magnets are selected as the material of the magnets, and the magnets are encapsulated by using an epoxy resin edge sealing process. The neodymium magnet has the advantages of small volume, light weight, strong magnetic force and the like, and meanwhile, the neodymium magnet is easy to process and form without using a die. It should be noted that, in practical implementation, the types of magnets can be automatically selected according to practical requirements, such as samarium-cobalt magnets, ferrite magnets, etc., and table 2 lists the properties of the various magnets:
TABLE 2 Properties of different kinds of magnets
Furthermore, the number of the positioning modules 1 in this embodiment is two, each positioning module includes two fixing arms 11, two adjusting arms 12 and two fixing portions 13, the two adjusting arms 12 and the two fixing arms 11 in each positioning module are located in the same plane, and the planes of the fixing arms 11 in the two positioning modules 1 are parallel to each other. Namely, the fixed arm 11 in one positioning module 1 corresponds to the fixed arm 11 in another positioning module 1, and the adjusting arm 12 in one positioning module 1 corresponds to the adjusting arm 12 in another positioning module 1 one by one, and the actions are the same, so that the stability of the device during the action can be improved by stepping, the stability of a workpiece can be fixed, and the strength of the welding angle positioner capable of automatically adjusting the angle is enhanced.
Further, in the present embodiment, the fixing portions 13 are located inside the two positioning modules 1, a projection of the fixing portion 13 in one positioning module 1 and a projection of the fixing portion 13 in the other positioning module 1 along the rotating shaft direction of the fixing arm 11 coincide, and a space is provided between the fixing portion 13 in one positioning module 1 and the corresponding fixing portion 13 in the other positioning module 1. The interval between two fixed parts 13 provides fixed space for some irregular member or other dysmorphism pieces of cross section, for example when fixed circular shape pipe fitting, not only can use magnet to adsorb the pipe fitting, can also make the protruding embedding on pipe surface to between two fixed parts 13 simultaneously, reduces the rocking degree of weldment during the welding, improves welding effect.
Further, the distance sensor 32 in this embodiment is a laser sensor (not shown in fig. 1 to 3), a further mounting plate is fixedly mounted above the sliding sleeve 22, the mounting plate is perpendicular to the sliding rod 21, the distance sensor 32 is mounted on the mounting plate on the sliding sleeve 22, and a detection end of the distance sensor 32 faces the head end of the fixed arm 11. In the embodiment, a ZLDS100R-4-39 sensor is selected, the measuring range is 2 mm-250 mm, and the resolution is 0.1 mm. It will be appreciated that other types or models of distance sensors 32 may be selected as desired in the practice of the present invention. Likewise, other means for fixedly mounting to the sleeve 22 are also contemplated.
Further, the present embodiment further includes a display 4, the display 4 is a touch screen, and the display 4 is electrically connected to the microcontroller 31. The display 4 is used as an interactive interface between the human and the machine, for receiving the target angle information of the human and as an input of the driver 23, which can be a control panel of the upper computer or a display screen integrated on the driving motor. In the embodiment, a 2.8-inch vlcds HMI capacitive touch screen is adopted, a GPU is arranged, an Arduino I2C interface is supported, the LCD mode is 65k TFT, and the module is powered by 3.3V/5VTTL level. The display 4 in this embodiment is a stand-alone device that is interfaced to the micro-driver 23 to issue commands when needed.
Further, the microcontroller 31 in this embodiment adopts an stm32f103c8t6 core board, i.e., an stm23 single chip microcomputer. stm32f103c8t6 is a 32-bit MCU series based on the ARM kernel, has advantages such as high performance, low-voltage, low-power consumption, supports interfaces such as serial ports, IIS, GPIOs, bluetooth. As the design is used as a welding positioning device to be applied to manual welding in the future, embedded equipment with higher cost performance is selected, a trained embedded program can be efficiently operated, the requirement of low cost can be met, and the stm32f103c8t6 core board has unusual performance in the aspects of power consumption and integration level. It will be appreciated that other types of microcontrollers 31 may be used, such as Arduino Uno, which is a development board for a single chip based on ATmega328P, or a 51-chip. It has 14 digital input/output pins (6 of which can be used as PWM outputs), 6 analog input pins, a 16MHz crystal oscillator, a USB connection, a power jack, an ICSP connector and a reset button. It can be used by connecting it to a computer using a USB cable, or powering it using an AC-to-DC adapter or battery, but it has inferior performance, inefficiency, code redundancy, and no run-time system, comparable to stm32, etc. The 51 single chip microcomputer is classic, high in efficiency, wide in application range, low in running speed, poor in protection capability and easy to burn out chips. In practical applications, designers should choose the advantages and disadvantages of different types of microcontrollers 31 according to specific situations to select the most suitable type and type of microcontroller 31.
Referring to fig. 4, the microcontroller 31, the display 4 and the distance sensor 32 in this embodiment are connected by an I2C interface. Microcontroller 31 and stepper motor drive plate 232 are connected electrically, and microcontroller 31 sends the I/O signal of information such as control stepper motor 231 rotational speed, stroke and direction to stepper motor drive plate 232. The control signals between the stepping motor drive board 232 and the stepping motor 231 comprise two control signals, wherein one control signal is a high-low level signal for controlling the rotation direction, the high level corresponds to positive rotation, the low level corresponds to negative rotation, the other control signal is a square wave signal for controlling the rotation speed and the rotation angle, the frequency of the square wave signal controls the rotation speed, and the number of the square waves controls the rotation stroke angle. A closed-loop feedback control can be realized by using the above connection method, for example: the display 4 sends a target angle signal to the microcontroller 31, the microcontroller 31 converts the target angle signal into a target distance signal, and the actual target control signal obtained by the feedback calculation of the distance sensor 32 is sent to the driver 23, so that accurate and stable adjustment is realized. It is easy to understand that the types and signal forms of the buses between the microcontroller 31 and the display 4, between the microcontroller 31 and the distance sensor 32, between the microcontroller 31 and the stepping motor driving board 232, and between the stepping motor driving board 232 and the stepping motor 231 can be set according to the actual model selection, and similarly, the feedback loop in the feedback adjustment can be located at other positions.
Furthermore, in this embodiment, the fixing arm 11 and the adjusting arm 12 are both in a sheet shape and made of carbon plates, the different fixing arms 11 in the two positioning modules 1 are connected through a bolt and a nut and a hinge shaft, the welding positioner handle is made of carbon fiber material, the specific gravity is light and high temperature resistant, the bolt and the nut are made of 304 stainless steel, and the snap rivet is made of aluminum alloy. In the actual manual welding process, the load borne by the positioner mainly comes from the self gravity of the weldment and the inertia force generated by shaking of the weldment, and if the strength is insufficient, the situation of fracture of a fixed point can occur, so that the welding safety can be seriously influenced. The simulation results shown in fig. 5 and 6 can be obtained by applying a pressure in the direction perpendicular to the fixed arm 11 of 100N to this embodiment by computer simulation. It can be seen from the figure that when the fixed arm 11 and the adjusting arm 12 are under a pressure of 100N, the maximum stress value distribution of the whole positioner is 13.98Mpa, and each fastening point meets the strength requirement in three directions of X, Y, Z, so that the structural design of the invention meets the strength requirement at a target angle of 30-150 degrees, i.e. the strength requirement under most working conditions, and safety accidents are avoided.
Furthermore, the present embodiment further includes a holding handle 5, the holding handle 5 is fixedly connected to an end of the stepping motor 231 facing away from the positioning module 1, and the holding handle 5 is perpendicular to the sliding rod 21. The gripping handle 5 is used for the operator to grasp the positioner with hands for operation, so that the practicability and convenience of the embodiment are improved.
In the embodiment of the invention, the two fixing parts 13 in the positioning module 1 are used for fixing the weldment to be welded, and the distance between the head end of the fixing arm 11 and the head end of the adjusting arm 12 is changed by adjusting the position of the sliding sleeve 22 on the sliding rod 21, so that the included angle between the two fixing arms 11 is changed, and further the adjustment of the positioning angle is realized. The driver 23, the microcontroller 31 and the distance sensor 32 realize automatic adjustment of the positioning angle, an operator only needs to input a target angle through an upper computer or other input equipment, the microcontroller 31 can send an instruction to the driver 23 to control the sliding sleeve 22 to move on the sliding rod 21, and the distance sensor 32 feeds actual distance information back to the microcontroller 31 or other input equipment to correct the operation of the driver 23. Compared with the existing welding angle positioner, the automatic angle adjusting device has the advantages that the automatic angle adjusting function is realized, and the automatic angle adjusting device also has the following advantages:
(1) the angle control is skillfully converted into linear control, in actual implementation, the angle control structure is not easy to calculate and design, a component such as an angle sensor is difficult to find a proper position for installation, the angle control structure is damaged, the anti-interference capability is poor, and the linear control is relatively simple and flexible, high in stability and good in interchangeability. Most importantly, the precision of the linear motion is easier to guarantee, so that the invention can have lower cost while guaranteeing the precision, for example, the screw rod, the stepping motor 231 and the like in the embodiment are easy-to-obtain parts, and the working efficiency in design can be greatly improved;
(2) feedback adjustment can be realized through the distance sensor 32, the influence of noise, vibration and other interferences on a welding site on signal transmission can be effectively suppressed, errors caused by grinding of parts and the like can be made up, and control precision is further improved;
(3) the control module 3 is far away from the welding part, so that the probability that the fragile control module 3 is damaged by heat and sparks generated during welding is reduced, the service life is prolonged, the anti-interference performance is enhanced, and the operation stability is ensured;
(4) the structural design of the fixed arm 11 and the adjusting arm 12 can effectively reduce stress borne during welding, prevent the situation of fixed point fracture, and ensure safety during working.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. An automatic angle regulation's welding angle locator for the welding of at least two weldment, characterized by, includes:
the positioning module comprises at least two fixed arms, at least two adjusting arms and at least two fixed parts, wherein each fixed arm is provided with a head end and a tail end, and the head ends of the fixed arms are rotatably connected together; the adjusting arm is also provided with a head end and a tail end, the head ends of the adjusting arms are rotatably connected together, and the tail ends of the adjusting arms are respectively hinged to the tail end of the fixed arm in a one-to-one correspondence manner; the fixed parts are respectively arranged on the fixed arms in a one-to-one correspondence manner, and the fixed parts are used for fixing the welding pieces;
the adjusting module comprises a sliding rod, a sliding sleeve and a driver, wherein one end of the sliding rod is connected to the head end of the fixed arm; the sliding sleeve is slidably sleeved on the sliding rod and connected to the head end of the adjusting arm; the driver is used for driving the sliding sleeve to move on the sliding rod;
the control module comprises a microcontroller and a distance sensor, and the microcontroller is electrically connected with the driver; the distance sensor is installed in the sliding sleeve, the distance sensor with microcontroller electric connection, the distance sensor is used for detecting the head end of fixed wall with interval between the head end of regulating arm.
2. The automatic angle adjustment welding angle positioner of claim 1, wherein the slide bar is a lead screw and the slide sleeve is a ball nut.
3. The automatic angle adjusting welding angle positioner of claim 2, wherein the driver comprises a stepping motor and a stepping motor driving board, wherein an output end of the stepping motor is coaxially and fixedly connected with an end of the sliding rod away from the positioning module, the stepping motor driving board is electrically connected with the stepping motor, and the stepping motor driving board is electrically connected with the microcontroller.
4. The automatic angle adjustment welding angle positioner of claim 3, wherein the fixed arm and the adjusting arm are both 100mm in length, the lead screw has a pitch of 4mm, and the stepper motor has a step angle of 1.8 °.
5. The automatic angle adjustment welding angle positioner of any one of claims 1 to 4, wherein the fixing portion is a magnet.
6. The self-adjusting angle welding angle positioner of claim 5, wherein the fixed portion is a neodymium magnet, the surface of the neodymium magnet being sealed by an epoxy coating.
7. The automatic angle adjustment welding angle positioner of claim 5, wherein there are two positioning modules, each positioning module comprises two fixing arms, two adjusting arms and two fixing portions, the two fixing arms and the two adjusting arms in each positioning module are located in the same plane, and the planes of the fixing arms in the two positioning modules are parallel to each other.
8. The automatic angle adjusting welding angle positioner of claim 7, wherein the fixing portions are located inside both of the positioning modules, a projection of the fixing portion of one of the positioning modules and a projection of the fixing portion of the other of the positioning modules along a rotation axis direction of the fixing arm coincide, and a space is provided between the fixing portion of one of the positioning modules and the corresponding fixing portion of the other of the positioning modules.
9. The automatic angle adjustment welding angle positioner according to any one of claims 1 to 4, wherein the distance sensor is a laser sensor, the distance sensor is mounted on the sliding sleeve, and a detection end of the distance sensor faces the head end of the fixed arm.
10. The automatic angle adjustment welding angle positioner according to any one of claims 1 to 4, further comprising a display, wherein the display is a touch screen, the display is electrically connected to the microcontroller, and the microcontroller is a single chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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