CN113649741A - Corrugated plate automatic welding machine and control system thereof - Google Patents
Corrugated plate automatic welding machine and control system thereof Download PDFInfo
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- CN113649741A CN113649741A CN202110952943.4A CN202110952943A CN113649741A CN 113649741 A CN113649741 A CN 113649741A CN 202110952943 A CN202110952943 A CN 202110952943A CN 113649741 A CN113649741 A CN 113649741A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
The invention discloses an automatic welding machine for corrugated plates and a control system of the automatic welding machine, and belongs to the technical field of welding machines. Corrugated plate automatic weld machine includes X axle module mechanism, Z axle module mechanism, two set square slewing mechanism, Y axle W axle cross module mechanism and welding mechanism, Z axle module mechanism fixes the top at X axle module mechanism, two set square slewing mechanism are connected with Z axle module mechanism, two set square slewing mechanism still are connected with Y axle W axle cross module mechanism, Y axle W axle cross module mechanism is connected with welding mechanism, welding mechanism includes line laser welding seam detection sensor, linear displacement sensor and welder. The invention has convenient disassembly and assembly, high welding precision and high welding efficiency; the welding of many gestures can be carried out, higher detachability and flexibility have, strong adaptability, and the flexibility is good, and the reliability is high, and the operation degree of difficulty is low, and human-computer interaction is good.
Description
Technical Field
The invention relates to an automatic welding machine for a corrugated plate and a control system of the automatic welding machine, and belongs to the technical field of welding machines.
Background
The thin film structure of the low-temperature enclosure lining of the thin film type LNG storage tank is formed by lap welding of a plurality of corrugated plates with uniform specification and size, and the welding standard of the thin film structure needs to meet related requirements. The welding of the film structure of the low-temperature enclosure lining of the existing film type LNG storage tank is generally finished by manual welding, and the problems of low welding efficiency, difficult control of welding precision, high labor cost, certain danger of the operation environment and the like exist.
The existing welding machines are mostly used in the automobile industry, the welding conditions of some corrugated plates are similar to the welding conditions of a film structure special for a low-temperature enclosure lining of a land film type LNG storage tank, but during the welding, the corrugated plates are required to be fixed on the relative specified positions of the welding machines and can only be fixedly welded at fixed positions, the welding requirements are severe, the welding machines cannot flexibly adjust the positions, only a single welding structure can be welded, and the whole welding task cannot be completed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an automatic welding machine for a corrugated plate and a control system thereof, which are suitable for welding a thin film structure of a low-temperature enclosure lining of a land thin film type LNG storage tank and have the advantages of convenience in installation and disassembly, wide application range, high welding efficiency, high welding precision and low labor cost.
The invention provides an automatic welding machine for a corrugated plate, which comprises an X-axis module mechanism, a Z-axis module mechanism, a double-triangular-plate rotating mechanism, a Y-axis W-axis cross module mechanism and a welding mechanism, wherein the Z-axis module mechanism is fixed above the X-axis module mechanism, the double-triangular-plate rotating mechanism is connected with the Z-axis module mechanism, the double-triangular-plate rotating mechanism is also connected with the Y-axis W-axis cross module mechanism, the Y-axis W-axis cross module mechanism is connected with the welding mechanism, and the welding mechanism comprises a linear laser welding seam detection sensor, a linear displacement sensor and a welding gun.
In one embodiment of the invention, the X-axis module mechanism comprises an X-axis guide rail, a bottom plate, a quick clamping mechanism, a section bar, an X-axis motor mounting support, an X-axis planetary reducer, a sliding roller, a transmission rack, a roller support plate and a transmission gear; the X-axis guide rail is internally provided with a transmission rack, a bottom plate, an X-axis motor and an X-axis planetary reducer are arranged above the X-axis guide rail, the X-axis motor is connected with the X-axis planetary reducer, the X-axis planetary reducer is connected with the bottom plate through an X-axis motor mounting support, the X-axis planetary reducer is connected with a transmission gear, and the transmission gear is meshed with the transmission rack.
In one embodiment of the invention, two sectional materials are further arranged between the bottom plate and the X-axis guide rail, the two sectional materials are fixed on two sides of the bottom plate, two roller supporting plates are arranged between the two sectional materials and clamped in grooves of the sectional materials, the roller supporting plates are fixedly connected with sliding rollers, the sliding rollers are connected with the roller supporting plates through bearings, the sliding rollers are matched with guide grooves on two sides of the X-axis guide rail, a quick clamping mechanism is arranged on one side surface of the bottom plate, and a thrust rod is arranged on one side of the quick clamping mechanism close to the X-axis guide rail and used for pushing the roller supporting plates to move in the grooves of the sectional materials.
In one embodiment of the invention, the Z-axis module mechanism is positioned above the X-axis module mechanism, and the Z-axis module mechanism comprises a Z-axis motor, a double-guide-rail ball screw linear module, a B-axis planetary reducer, a B-axis motor, a Z-axis module bottom plate, an L-shaped fixed support, a B-axis transmission gear set, a B-axis bearing seat, a Z-axis sliding platform bottom plate, a B-axis transmission shaft and a B-axis rotating motor mounting support; the X-axis module mechanism is characterized in that the L-shaped fixed support is fixedly connected with a bottom plate of the X-axis module mechanism, a Z-axis module bottom plate is fixedly connected above the L-shaped fixed support, a double-guide-rail ball screw linear module is fixedly connected with the Z-axis module bottom plate, and the double-guide-rail ball screw linear module is connected with a Z-axis motor.
In one embodiment of the invention, the double-guide-rail ball screw linear module comprises a ball screw, a coupler, double guide rails and a movable sliding table, wherein the ball screw penetrates through the movable sliding table, and a Z-axis motor drives the ball screw to rotate through the coupler, so that the movable sliding table is driven to move up and down.
In one embodiment of the invention, a B-axis rotating motor mounting bracket, a B-axis motor, a B-axis planetary reducer, a B-axis transmission gear set, a B-axis transmission shaft and a B-axis bearing seat are respectively arranged on two sides of the double-guide-rail ball screw linear module; the Z-axis sliding platform bottom plate is fixedly connected with the movable sliding table and moves up and down along with the movable sliding table, B-axis bearing blocks are respectively and fixedly arranged on two sides of the Z-axis sliding platform bottom plate, a B-axis transmission shaft is arranged in each B-axis bearing block, one end of each B-axis transmission shaft is connected with a large gear in a B-axis transmission gear set, and the other end of each B-axis transmission shaft is used as transmission output to the double-triangular-plate rotating mechanism; the B-axis motor and the B-axis planetary reducer are fixed on the Z-axis sliding platform bottom plate through a B-axis rotating motor mounting bracket, a waist-shaped hole is formed in the B-axis rotating motor mounting bracket, and the B-axis motor and the B-axis planetary reducer can slide in the waist-shaped hole.
In one embodiment of the invention, the double-triangular-plate rotating mechanism comprises two B-axis driving arms, two large triangular-plate connecting shafts, a large triangular plate, two small triangular-plate connecting shafts, a small triangular plate, a small triangular-plate extending plate and a W-axis linear module base; the B-axis driving arm comprises a lower key slot hole of the B-axis driving arm, a mounting hole in the middle of the B-axis driving arm and a mounting hole in the upper part of the B-axis driving arm, the double-triangle rotating mechanism is connected with a B-axis transmission shaft key through the lower key slot hole of the B-axis driving arm, two ends of the B-axis transmission shaft are screwed and fixed through nuts, and the rotating motion direction of the B-axis driving arm is regulated to be B-axis motion; the large triangular plate is connected with the two B-axis driving arms through two large triangular plate connecting shafts, one ends of the two large triangular plate connecting shafts are respectively installed and fixed in installation holes in the upper parts of the two B-axis driving arms through bearing seats, and two ends of each large triangular plate connecting shaft are respectively screwed and fixed through nuts; the small set square is connected with the two B-axis driving arms through two small set square connecting shafts, one ends of the two small set square connecting shafts are respectively installed and fixed in installation holes in the middle parts of the two B-axis driving arms through bearing seats, two ends of each small set square connecting shaft are also respectively screwed and fixed through nuts, and the small set square extending plate is installed and fixed at the lower end of the small set square.
In one embodiment of the invention, the W-axis linear module base comprises a middle position of the W-axis linear module base and a lower position of the W-axis linear module base, the middle position of the W-axis linear module base is connected with the lower position of the large triangular plate through a crossed roller bearing, and the lower position of the W-axis linear module base is connected with the lower position of the small triangular plate extension plate through a crossed roller bearing; big set-square and little set-square stagger in the axis direction of connecting axle, and two B axle actuating arms drive two big set-squares when pivoted and realize the dislocation motion, and the bearing that dislocation motion drive W axle straight line module base is connected along with W axle straight line module base middle part position and W axle straight line module base lower part position rotates.
In one embodiment of the invention, the Y-axis W-axis cross module mechanism comprises a W-axis motor, a W-axis linear module sliding table, a W-axis linear module, a Y-axis turn-back type linear module support, a Y-axis module sliding table, a Y-axis turn-back type linear module and a Y-axis motor; the W-axis linear module is fixedly connected with the W-axis linear module base through a mounting hole in the bottom, and the Y-axis fold-back type linear module is connected with the W-axis linear module sliding table; welding mechanism includes sensor slip table connection support, sensor support, line laser welding seam detection sensor, linear displacement sensor, welder and welder erection support, the sensor support passes through sensor slip table connection support and is connected with Y axle module slip table, line laser welding seam detection sensor and linear displacement sensor installation are fixed on the sensor support, welder passes through welder erection support to be fixed on the sensor support.
Another object of the present invention is to provide an automatic welding control system for corrugated plate, which comprises a motion control part, a shaft driver set, and a sensor set;
the motion control part comprises an upper computer and a PLC lower computer, the upper computer and the PLC lower computer are communicated with an RS485 concentrator through an RS485 controller, the upper computer is used for human-computer interaction HMI, code interpretation, algorithm and data processing and weld joint detection and is communicated with a measuring device, the PLC lower computer is communicated with a welding power supply controller and a shaft driver set, and the PLC lower computer sends a welding switch and a power signal to the welding power supply controller to control the welding process; an X-axis interface, a Y-axis interface, a Z-axis interface, a B-axis interface and a W-axis interface are arranged in the PLC lower computer;
the PLC lower computer sends a control signal to the shaft driver in a pulse + direction mode to realize interpolation control of the X shaft, the Y shaft, the Z shaft, the B shaft and the W shaft; each axis driver has pulse subdivision and amplification functions, motion control precision is improved by subdividing control pulse signals, and power amplification is carried out on the signals through MOS switching tubes to complete driving of the motor;
the sensor group comprises a linear laser welding seam detection sensor, a linear displacement sensor, a shaft limit switch and a photoelectric sensor, and the welding seam detection sensor and the linear displacement sensor are in communication connection with an upper computer or a PLC lower computer through an RS485 concentrator; the shaft limit switch, the photoelectric sensor and the digital I/O of the PLC lower computer are communicated, the sensor group is used for providing position feedback information in the motion process of the machine, and the PLC lower computer processes and maps the feedback information to control the motor.
Advantageous effects
1. According to the invention, five-axis motion is realized through the X-axis module mechanism, the Z-axis module mechanism, the double-triangular-plate rotating mechanism and the Y-axis W-axis cross module mechanism, and the welding efficiency and precision are improved.
2. The automatic welding system is designed for the welding task of the thin film structure of the low-temperature enclosure lining of the land thin film type LNG storage tank, can realize quick assembly and disassembly, can be disassembled and assembled at any time, does not need to fix places, can realize the welding of two types of corrugated plates in the prior art, has higher welding efficiency than manual work, can completely ensure the welding precision, meets the related requirements on the precision, does not need an adjusting mechanism when the corrugated plates with different sizes are welded, and greatly improves the welding efficiency. The welding of multi-attitude can be carried out, the welding task of vertical, level, perpendicular a plurality of direction stations can be accomplished, higher detachability and flexibility have, strong adaptability, flexibility are good, the reliability is high, the operation degree of difficulty is low, advantages such as human-computer interaction is good can satisfy current welding demand.
3. According to the invention, through accurate matching and coordination among all parts, a mechanical structure system of the corrugated plate automatic welding machine is formed together, and then a control system and a track tracing algorithm are combined, so that the identification of the corrugated plate weld joint is realized, the linkage motion of five axes of the control system is realized, and a welding gun is driven to trace the corrugated plate weld joint track and complete a welding task.
4. According to the analysis and design of the double-triangular-plate structure, the vertical distance of the axes of the two bearings is equal to the vertical distance of the axes of the connecting shafts of the large and small triangular plates on the same side, the structure can be simplified into a parallelogram with two spaces, a triangular-like structure is adopted, the stability of the structural motion is improved, errors caused by the motion of the mechanism are reduced, according to simulation analysis and experiments, the bearing center at the joint of the lower part of the W-axis linear module base and the lower part of the extending plate of the small triangular plate does circular motion, the position of the circle center of the bearing center is kept unchanged in the rotating process, and theoretical guarantee is provided for the tracing motion of a welding seam in the welding process.
5. The special stainless steel corrugated plate is made of 304L stainless steel, the thickness of the stainless steel corrugated plate is 1.2mm, and criss-cross groove shapes with the side length of 340mm are formed on the surface of the stainless steel corrugated plate through a stamping process. The stainless steel plate has a large thermal expansion coefficient and a special structure, so that deformation and dislocation are inevitable during welding, and the product quality and even splicing failure are greatly influenced if accumulated errors are too large during splicing of a plurality of plates. Therefore, controlling the deformation of the welding material during the welding process is the key to ensure the welding quality. Due to local rapid heating and large heat conductivity and low high-temperature strength of stainless steel in the welding process, large residual stress and deformation of the welded aluminum alloy structural part often occur, the residual stress is mainly caused by uneven thermal circulation in the welding process, and accurate calculation of a welding transient temperature field is a premise for analyzing the welding residual stress. The method combines the actual welding process, carries out numerical simulation calculation on the temperature field of the stainless steel flat welding process by establishing a three-dimensional calculation model of the welding material and based on an ANSYS finite element analysis software platform, quickly and accurately obtains the distribution of the welding temperature fields under different welding output powers by using a finite element simulation method, predicts the dynamic change process of the welding temperature fields, and provides a theoretical basis for reducing welding deformation and improving the quality of a welding seam.
6. The corrugated plate automatic control system provided by the invention consists of a laser structure optical sensor, a controller and an actuating mechanism, which form a complete closed-loop control system and realize the functions of detection, calculation and execution.
7. According to the invention, a suitable welding execution structure is designed through analysis of a welding application scene, and the motions of five shafts of X, Y, Z, B and W are realized through the ingenious design of an integral mechanism. The control system adopts an open structure of an upper computer and a PLC lower computer. Functionally, the upper computer processor is responsible for human-computer interaction HMI, code interpretation, algorithm and data processing, weld joint detection and the like, and is communicated with the measuring device, and the PLC lower computer completes various operations related to motion control such as welding motion interpolation position information feedback and the like. And the PLC lower computer performs interpolation motion control on the motion amount in the direction of five degrees of freedom. When automatic welding, carry out data acquisition through line laser welding seam detecting sensor and linear displacement sensor to the overlap joint and the welding seam condition of the buckled plate that need weld, data process control algorithm's processing back, corresponding control command is made to the control core, and the motion of five degrees of freedom directions of control mechanism realizes the orbit of welding seam and seeks the mark through the resultant motion of five directions to drive the soldered connection and realize the welding task to the welding seam.
Drawings
FIG. 1 is a perspective view of an automatic welder for corrugated plates according to the present invention.
FIG. 2 is a side view of an automatic welder for corrugated board of the present invention.
FIG. 3 is a perspective view of the X-axis module mechanism of the present invention.
FIG. 4 is a top view of the X-axis module mechanism of the present invention.
FIG. 5 is a side view of the X-axis module mechanism of the present invention.
Fig. 6 is a perspective view of one view of the Z-axis module mechanism of the present invention.
Fig. 7 is a perspective view of another perspective of the Z-axis module mechanism of the present invention.
Fig. 8 is a perspective view of a dual-guide ball screw linear module of the Z-axis module mechanism of the present invention.
Fig. 9 is a perspective view of a double triangle rotating mechanism according to the present invention.
Fig. 10 is a perspective view of another angle of the double triangle rotating mechanism of the present invention.
Fig. 11 is a side view of the double triangle rotating mechanism of the present invention.
Fig. 12 is a front view of the double triangle rotating mechanism of the present invention.
FIG. 13 is a perspective view of the Y-axis W-axis cross module mechanism of the present invention.
FIG. 14 is a front view of the Y-axis W-axis cross module mechanism of the present invention.
Fig. 15 is a perspective view of the welding mechanism of the present invention.
FIG. 16 is a front view of the welding mechanism of the present invention.
Fig. 17 is a composition diagram of an automatic welding control system for corrugated plates according to the present invention.
Wherein: 1. an X-axis guide rail; 2. a base plate; 3. a quick clamping mechanism; 4. a section bar; 5. an X-axis motor; 6. an X-axis motor mounting support; 7. an X-axis planetary reducer; 8. a sliding roller; 9. a drive rack; 10. a roller support plate; 11. a transmission gear; 12. a Z-axis motor; 13. a double-guide-rail ball screw linear module; 131. a coupling; 132. a ball screw; 133. moving the sliding table; 134. double guide rails; 14. a B-axis planetary reducer; 15. a B-axis motor; 16. a Z-axis module base plate; 17. an L-shaped fixed support; 18. a B-axis transmission gear set; 19. a bearing seat of the B shaft; 20. a Z-axis sliding platform base plate; 21. a B-axis transmission shaft; 22. b, rotating a motor mounting bracket; 23. a large triangle connecting shaft; 24. a B-axis drive arm; 241. the lower key slot hole of the B-axis driving arm; 242. a mounting hole in the middle of the B-axis driving arm; 243. a mounting hole at the upper part of the B-axis driving arm; 25. a small triangle connecting shaft; 26. a small triangle; 27. a small triangle extension plate; 271. the lower part of the small triangle extending plate is connected with the position; 28. a W-axis linear module base; 281. the middle position of the W-axis linear module base; 282. the lower part of the W-axis linear module base; 29. a large triangle; 291. the lower part of the large triangle; 30. a W-axis motor; 31. a W-axis linear module sliding table; 32. a W-axis linear module; 33. a Y-axis fold-back type linear module support; 34. a Y-axis module sliding table; 35. a Y-axis fold-back type linear module; 36. a Y-axis motor; 37. the sensor sliding table is connected with a support; 38. a sensor holder; 39. a line laser weld detection sensor; 40. a linear displacement sensor; 41. a welding gun; 42. and (5) mounting a support by using a welding gun.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings. The terms "inner" and "outer" are used to refer to directions toward and away from, respectively, the geometric center of a particular component.
Example 1
An automatic welding machine for corrugated plates is shown in figure 1 or 2 and comprises an X-axis module mechanism, a Z-axis module mechanism, a double-triangular-plate rotating mechanism, a Y-axis W-axis cross module mechanism and a welding mechanism.
As shown in fig. 3-5, the X-axis module mechanism includes an X-axis guide rail 1, a bottom plate 2, a quick clamping mechanism 3, a profile 4, an X-axis motor 5, an X-axis motor mounting support 6, an X-axis planetary reducer 7, a sliding roller 8, a transmission rack 9, a roller support plate 10 and a transmission gear 11; the X-axis guide rail is characterized in that a transmission rack 9 is arranged in the X-axis guide rail 1, a bottom plate 2, an X-axis motor 5 and an X-axis planetary reducer 7 are arranged above the X-axis guide rail 1, the X-axis motor 5 is connected with the X-axis planetary reducer 7, the X-axis planetary reducer 7 is connected with the bottom plate 2 through an X-axis motor mounting support 6, the X-axis planetary reducer 7 is connected with a transmission gear 11, and the transmission gear 11 is meshed with the transmission rack 9 to enable the bottom plate 2 to slide on the X-axis guide rail 1. Still be equipped with section bar 4 between bottom plate 2 and the X axle guide rail 1, the quantity of section bar 4 is two, and section bar 4 is fixed in the both sides of bottom plate 2 bottom, is equipped with two gyro wheel backup pads 10 between two section bars 4, gyro wheel backup pad 10 card is in the recess of section bar 4, can be in the slip of the recess of section bar 4, gyro wheel backup pad 10 fixedly connected with slip gyro wheel 8, slip gyro wheel 8 passes through the bearing and is connected with gyro wheel backup pad 10. As shown in fig. 5, the slide rollers 8 are fitted into guide grooves on both sides of the X-axis guide rail 1. One side surface of the bottom plate 2 is provided with a quick clamping mechanism 3, as shown in fig. 3, one side of the quick clamping mechanism 3 close to the X-axis guide rail 1 is provided with a thrust rod, and the thrust rod can push the roller support plate 10 to move in the groove of the section bar 4. According to actual welding task demand, the during operation, can with X axle guide rail 1 with buckled plate automatic weld machine separates to can realize through quick clamping mechanism 3 that the dress is promptly used, improve the flexibility and the detachability of machine, better adaptation actual operating mode.
As shown in fig. 6 or 7, the Z-axis module mechanism is located above the X-axis module mechanism, and the Z-axis module mechanism includes a Z-axis motor 12, a double-guide-rail ball screw linear module 13, a B-axis planetary reducer 14, a B-axis motor 15, a Z-axis module bottom plate 16, an L-shaped fixed support 17, a B-axis transmission gear set 18, a B-axis bearing seat 19, a Z-axis sliding platform bottom plate 20, a B-axis transmission shaft 21, and a B-axis rotating motor mounting bracket 22; the X-axis module mechanism is characterized in that the L-shaped fixed support 17 is fixedly connected with the bottom plate 2 of the X-axis module mechanism, a Z-axis module bottom plate 16 is fixedly connected above the L-shaped fixed support 17, the Z-axis module bottom plate 16 is fixedly connected with a double-guide-rail ball screw linear module 13, and the double-guide-rail ball screw linear module 13 is connected with the Z-axis motor 12.
As shown in fig. 8, the double-guide-rail ball screw linear module 13 includes a ball screw 132, a coupler 131, a double guide rail 134 and a movable sliding table 133, the ball screw 132 penetrates through the inside of the movable sliding table 133, and the Z-axis motor 12 drives the ball screw 132 to rotate through the coupler 131, so as to drive the movable sliding table 133 to move up and down.
A B-axis rotating motor mounting bracket 22, a B-axis motor 15, a B-axis planetary reducer 14, a B-axis transmission gear set 18, a B-axis transmission shaft 21 and a B-axis bearing seat 19 are respectively arranged on two sides of the double-guide-rail ball screw linear module 13; the Z-axis sliding platform bottom plate 20 is fixedly connected with the movable sliding table 133 and moves up and down along with the movable sliding table 133, B-axis bearing seats 19 are fixedly arranged on two sides of the Z-axis sliding platform bottom plate 20 respectively, and B-axis transmission shafts 21 are arranged in the B-axis bearing seats 19. One end of the B-axis transmission shaft 21 is connected with a large gear in the B-axis transmission gear set 18, and the other end of the B-axis transmission shaft 21 is used as transmission output to the double-triangle rotating mechanism. The B-axis motor 15 and the B-axis planetary reducer 14 are fixed on a Z-axis sliding platform bottom plate 20 through a B-axis rotating motor mounting bracket 22. Further, the B-axis rotating motor mounting bracket 22 is provided with a kidney-shaped hole, and the B-axis motor 15 and the B-axis planetary reducer 14 can slide in the kidney-shaped hole. The Z-axis module mechanism mainly realizes the movement of the corrugated plate automatic welding machine in the Z-axis direction.
As shown in fig. 9-12, the double triangle rotation mechanism includes two B-axis driving arms 24, two large triangle connecting shafts 23, a large triangle 29, two small triangle connecting shafts 25, a small triangle 26, a small triangle extending plate 27 and a W-axis linear module base 28. The B-axis driving arm 24 comprises a lower key slot hole 241 of the B-axis driving arm, a mounting hole 242 in the middle of the B-axis driving arm and a mounting hole 243 in the upper part of the B-axis driving arm, the double-triangle rotating mechanism is connected with the B-axis transmission shaft 21 through the lower key slot hole 241 of the B-axis driving arm in a key mode, two ends of the B-axis transmission shaft 21 are fixed in a screwed mode through nuts, and the rotating motion direction of the B-axis driving arm 24 is regulated to be B-axis motion. The large triangle plate 29 is connected with the two B-axis driving arms 24 through two large triangle plate connecting shafts 23, one ends of the two large triangle plate connecting shafts 23 are respectively installed and fixed in the installation holes 243 at the upper parts of the two B-axis driving arms through bearing seats, and two ends of the large triangle plate connecting shaft 23 are respectively screwed and fixed through nuts. The small triangle 26 is connected with the two B-axis driving arms 24 through two small triangle connecting shafts 25, one ends of the two small triangle connecting shafts 25 are respectively installed and fixed in the installation holes 242 in the middle of the two B-axis driving arms through bearing seats, and two ends of the small triangle connecting shafts 25 are also respectively screwed and fixed through nuts. The small triangle extending plate 27 is fixedly arranged at the lower end of the small triangle 26.
The W-axis linear module mount 28 includes a W-axis linear module mount middle position 281 and a W-axis linear module mount lower position 282, the W-axis linear module mount middle position 281 being connected to a large set square lower position 291 by cross roller bearings, the W-axis linear module mount lower position 282 being connected to a small set square extension lower position 271 by cross roller bearings. Big set-square 29 and little set-square 26 stagger certain distance in the axis direction of connecting axle, and two B axle driving arms 24 are driven by two B axle transmission shafts 21 and are realized rotary motion, and two B axle driving arms 24 drive two big set-squares 29 when pivoted and realize the dislocation motion, and the bearing that dislocation motion drive W axle straight line module base 28 is connected along with W axle straight line module base middle part position 281 and W axle straight line module base lower part position 282 rotates. According to the analysis and design of the double-triangular-plate structure, the vertical distance between the axes of the two bearings is equal to the vertical distance between the axes of the connecting shafts of the large triangular plate and the small triangular plate on the same side, the structure can be simplified into a parallelogram in two spaces, a structure similar to a triangle is adopted, the structural motion stability is improved, and the error caused by motion of a small mechanism is small. According to simulation analysis and experiments, the center of the bearing at the joint of the lower position 282 of the W-axis linear module base and the lower position 271 of the small triangle extending plate makes circular motion, the position of the circle center of the bearing is kept unchanged in the rotating process, and theoretical guarantee is provided for the tracing motion of a welding seam in the welding process.
As shown in fig. 13 or 14, the Y-axis W-axis crisscross module mechanism includes a W-axis motor 30, a W-axis linear module slide table 31, a W-axis linear module 32, a Y-axis fold-back linear module support 33, a Y-axis module slide table 34, a Y-axis fold-back linear module 35, and a Y-axis motor 36.
The W-axis linear module 32 is fixedly connected with the W-axis linear module base 28 through a mounting hole in the bottom, and the transmission of the W-axis linear module is realized by connecting the W-axis motor 30 with a coupler and then connecting a lead screw to drive the W-axis linear module sliding table 31 to move. Here, the linear motion direction of the W-axis linear module sliding table is defined as W-axis motion, as a supplementary role of the Z-axis direction motion of the entire mechanism.
The Y-axis fold-back type linear module 33 is connected with the W-axis linear module sliding table 31, the transmission of the Y-axis fold-back type linear module is connected with a synchronous belt wheel through a Y-axis motor 36, the synchronous belt wheel is connected with a lead screw, and the lead screw drives the Y-axis module sliding table 34 to move along the axial direction of the lead screw. The motion direction of the Y-axis module sliding table 34 is regulated to be Y-axis motion, the motion control in the Y direction is added to the corrugated plate automatic welding machine, and the integral controllability of the corrugated plate automatic welding machine is improved.
As shown in fig. 15 or 16, the welding mechanism includes a sensor slide attachment support 37, a sensor holder 38, a line laser weld detection sensor 39, a linear displacement sensor 40, a welding gun 41, and a welding gun attachment support 42. The sensor support 38 is connected with the Y-axis module sliding table 34 through a sensor sliding table connecting support 37, and the line laser welding seam detection sensor 39 and the linear displacement sensor 40 are fixedly arranged on the sensor support 38. The welding torch 41 is fixed to the sensor holder 38 by a torch mounting bracket 42. The welding mechanism realizes the identification and data acquisition of welding seams and the task of finally finishing welding by the welding gun.
Example 2
As shown in fig. 17, the present embodiment provides an automatic welding control system of a corrugated plate, which applies the automatic welding machine of a corrugated plate provided in embodiment 1, and comprises a motion control part, a shaft driver group, and a sensor group; the motion control part comprises an upper computer and a PLC lower computer, the upper computer is used for human-computer interaction HMI, code interpretation, algorithm and data processing, welding seam detection and communication with the measuring device, and the PLC lower computer is used for motion control related work fed back by welding motion interpolation position information. The closed-loop stepping motors are used as executing components of all the moving shafts, the PLC lower computer controls a motor driver, the encoders at the tail parts of the closed-loop stepping motors feed back the motion information of the motors, and the motion information is adjusted by the drivers, so that the response performance of all the motors reaches a better state, and the speed of the motors is more stable when the motors run at a constant speed. The communication between the upper computer and the PLC lower computer is realized by adopting the RS485 controller and the RS485 concentrator, the connection and the operation of a welding seam position sensor, a linear displacement sensor, an operation switch and a shaft limit signal are basically controlled, and therefore the industrial field arrangement of large-scale equipment is greatly simplified. The detection system transmits the measured welding seam information to the control system in a certain communication mode, the control system obtains data through a corresponding mapping relation, and then the data are converted into the motion amount of each axis through a certain algorithm to realize accurate tracking of the welding seam.
The upper computer develops a user graphical interface, provides a good human-computer interface for a user and performs background management on a program; and the PLC lower computer sends a welding switch and a power signal to the welding controller to control the welding process. In addition, the PLC lower computer sends control signals to each axis driver in a pulse + direction mode to realize interpolation control of the X, Y, Z, B and W five axes; each axis driver possesses pulse subdivision and amplification function, and through subdividing control pulse signal, improves motion control accuracy, and rethread MOS switch tube carries out power amplification with the signal, accomplishes the drive to the motor. The sensor group comprises a limit sensor of each shaft, a machine feeding photoelectric sensor, a linear displacement sensor on a welding gun and a welding seam position detection sensor. The sensor group is communicated with the upper computer or the PLC lower computer to provide necessary position feedback information in the moving process of the robot, and the PLC lower computer processes and maps the feedback information and controls the motor. The upper computer and the PLC lower computer are communicated through an RS485 serial port, and general and special functions can be well realized through control software developed by the upper computer and development of a lower computer controller. Data acquisition is carried out on the lapping and welding line conditions of the corrugated plates to be welded through the line laser welding line detection sensor and the linear displacement sensor, after the data are processed through a control algorithm, a control core makes corresponding control instructions, the movement of five freedom degrees directions of the control mechanism is controlled, the track tracing of the welding line is realized through the synthetic movement of five directions, and the welding task of the welding line is realized by driving a welding head to the welding line.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents may be substituted for elements thereof without departing from the scope of the invention.
Claims (10)
1. The utility model provides a buckled plate automatic weld machine, its characterized in that, includes X axle module mechanism, Z axle module mechanism, two set-square slewing mechanism, Y axle W axle cross module mechanism and welding mechanism, Z axle module mechanism fixes the top at X axle module mechanism, two set-square slewing mechanism and Z axle module mechanism are connected, two set-square slewing mechanism still are connected with Y axle W axle cross module mechanism, Y axle W axle cross module mechanism is connected with welding mechanism, welding mechanism includes line laser welding seam detection sensor, linear displacement sensor and welder.
2. The automatic welding machine for corrugated plates according to claim 1, wherein the X-axis module mechanism comprises an X-axis guide rail, a bottom plate, a quick clamping mechanism, a section bar, an X-axis motor mounting support, an X-axis planetary reducer, a sliding roller, a transmission rack, a roller support plate and a transmission gear; the X-axis guide rail is internally provided with a transmission rack, a bottom plate, an X-axis motor and an X-axis planetary reducer are arranged above the X-axis guide rail, the X-axis motor is connected with the X-axis planetary reducer, the X-axis planetary reducer is connected with the bottom plate through an X-axis motor mounting support, the X-axis planetary reducer is connected with a transmission gear, and the transmission gear is meshed with the transmission rack.
3. The automatic corrugated plate welding machine according to claim 2, wherein two sectional materials are further arranged between the bottom plate and the X-axis guide rail, the number of the sectional materials is two, the sectional materials are fixed on two sides of the bottom plate, two roller supporting plates are arranged between the two sectional materials and clamped in grooves of the sectional materials, sliding rollers are fixedly connected with the roller supporting plates and connected with the roller supporting plates through bearings, the sliding rollers are matched with guide grooves in two sides of the X-axis guide rail, a quick clamping mechanism is installed on one side surface of the bottom plate, a thrust rod is arranged on one side, close to the X-axis guide rail, of the quick clamping mechanism, and the thrust rod is used for pushing the roller supporting plates to move in the grooves of the sectional materials.
4. The automatic corrugated plate welding machine according to claim 3, wherein the Z-axis module mechanism is located above the X-axis module mechanism, and comprises a Z-axis motor, a double-guide-rail ball screw linear module, a B-axis planetary reducer, a B-axis motor, a Z-axis module bottom plate, an L-shaped fixed support, a B-axis transmission gear set, a B-axis bearing seat, a Z-axis sliding platform bottom plate, a B-axis transmission shaft and a B-axis motor mounting bracket; the X-axis module mechanism is characterized in that the L-shaped fixed support is fixedly connected with a bottom plate of the X-axis module mechanism, a Z-axis module bottom plate is fixedly connected above the L-shaped fixed support, a double-guide-rail ball screw linear module is fixedly connected with the Z-axis module bottom plate, and the double-guide-rail ball screw linear module is connected with a Z-axis motor.
5. The corrugated plate automatic welding machine according to claim 4, characterized in that the double-guide-rail ball screw linear module comprises a ball screw, a coupler, double guide rails and a movable sliding table, the ball screw penetrates through the inside of the movable sliding table, and the Z-axis motor drives the ball screw to rotate through the coupler, so that the movable sliding table is driven to move up and down.
6. The automatic welding machine for corrugated plates according to claim 5, wherein a B-axis rotating motor mounting bracket, a B-axis motor, a B-axis planetary reducer, a B-axis transmission gear set, a B-axis transmission shaft and a B-axis bearing seat are respectively arranged on two sides of the double-guide-rail ball screw linear module; the Z-axis sliding platform bottom plate is fixedly connected with the movable sliding table and moves up and down along with the movable sliding table, B-axis bearing blocks are respectively and fixedly arranged on two sides of the Z-axis sliding platform bottom plate, a B-axis transmission shaft is arranged in each B-axis bearing block, one end of each B-axis transmission shaft is connected with a large gear in a B-axis transmission gear set, and the other end of each B-axis transmission shaft is used as transmission output to the double-triangular-plate rotating mechanism; the B-axis motor and the B-axis planetary reducer are fixed on the Z-axis sliding platform bottom plate through a B-axis rotating motor mounting bracket, a waist-shaped hole is formed in the B-axis rotating motor mounting bracket, and the B-axis motor and the B-axis planetary reducer can slide in the waist-shaped hole.
7. A corrugated plate automatic welding machine according to claim 6, characterized in that the double-triangular-plate rotating mechanism comprises two B-axis driving arms, two large triangular-plate connecting shafts, a large triangular plate, two small triangular-plate connecting shafts, a small triangular plate, a small triangular-plate extending plate and a W-axis linear module base; the B-axis driving arm comprises a lower key slot hole of the B-axis driving arm, a mounting hole in the middle of the B-axis driving arm and a mounting hole in the upper part of the B-axis driving arm, the double-triangle rotating mechanism is connected with a B-axis transmission shaft key through the lower key slot hole of the B-axis driving arm, two ends of the B-axis transmission shaft are screwed and fixed through nuts, and the rotating motion direction of the B-axis driving arm is regulated to be B-axis motion; the large triangular plate is connected with the two B-axis driving arms through two large triangular plate connecting shafts, one ends of the two large triangular plate connecting shafts are respectively installed and fixed in installation holes in the upper parts of the two B-axis driving arms through bearing seats, and two ends of each large triangular plate connecting shaft are respectively screwed and fixed through nuts; the small set square is connected with the two B-axis driving arms through two small set square connecting shafts, one ends of the two small set square connecting shafts are respectively installed and fixed in installation holes in the middle parts of the two B-axis driving arms through bearing seats, two ends of each small set square connecting shaft are also respectively screwed and fixed through nuts, and the small set square extending plate is installed and fixed at the lower end of the small set square.
8. An automatic welding machine for corrugated plates according to claim 7, characterized in that the W-axis linear module base comprises a W-axis linear module base middle position and a W-axis linear module base lower position, the W-axis linear module base middle position is connected with the large triangular plate lower position through a cross roller bearing, and the W-axis linear module base lower position is connected with the small triangular plate extension plate lower position through a cross roller bearing; big set-square and little set-square stagger in the axis direction of connecting axle, and two B axle actuating arms drive two big set-squares when pivoted and realize the dislocation motion, and the bearing that dislocation motion drive W axle straight line module base is connected along with W axle straight line module base middle part position and W axle straight line module base lower part position rotates.
9. The automatic welding machine for corrugated plates according to claim 8, wherein the Y-axis W-axis cross module mechanism comprises a W-axis motor, a W-axis linear module sliding table, a W-axis linear module, a Y-axis turn-back type linear module support, a Y-axis module sliding table, a Y-axis turn-back type linear module and a Y-axis motor; the W-axis linear module is fixedly connected with the W-axis linear module base through a mounting hole in the bottom, and the Y-axis fold-back type linear module is connected with the W-axis linear module sliding table; welding mechanism includes sensor slip table connection support, sensor support, line laser welding seam detection sensor, linear displacement sensor, welder and welder erection support, the sensor support passes through sensor slip table connection support and is connected with Y axle module slip table, line laser welding seam detection sensor and linear displacement sensor installation are fixed on the sensor support, welder passes through welder erection support to be fixed on the sensor support.
10. An automatic welding control system for corrugated plates, which is characterized in that the automatic welding machine for corrugated plates as claimed in any one of claims 1 to 9 is applied, and comprises a motion control part, a shaft driver group and a sensor group;
the motion control part comprises an upper computer and a PLC lower computer, the upper computer and the PLC lower computer are communicated with an RS485 concentrator through an RS485 controller, the upper computer is used for human-computer interaction HMI, code interpretation, algorithm and data processing and weld joint detection and is communicated with a measuring device, the PLC lower computer is communicated with a welding power supply controller and a shaft driver set, and the PLC lower computer sends a welding switch and a power signal to the welding power supply controller to control the welding process; an X-axis interface, a Y-axis interface, a Z-axis interface, a B-axis interface and a W-axis interface are arranged in the PLC lower computer;
the PLC lower computer sends a control signal to the shaft driver in a pulse + direction mode to realize interpolation control of the X shaft, the Y shaft, the Z shaft, the B shaft and the W shaft; each axis driver has pulse subdivision and amplification functions, motion control precision is improved by subdividing control pulse signals, and power amplification is carried out on the signals through MOS switching tubes to complete driving of the motor;
the sensor group comprises a line laser welding seam detection sensor, a linear displacement sensor, a shaft limit switch and a photoelectric sensor, and the line laser welding seam detection sensor and the linear displacement sensor are in communication connection with an upper computer or a PLC (programmable logic controller) lower computer through an RS485 concentrator; the shaft limit switch and the photoelectric sensor are communicated with a digital quantity I/O interface of the PLC lower computer, the sensor group is used for providing position feedback information in the motion process of the machine, and the PLC lower computer processes and maps the feedback information to control the motor.
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Cited By (4)
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| CN114227092A (en) * | 2021-12-21 | 2022-03-25 | 宁波凯荣新能源有限公司 | Driving device of automatic welding device of thin film type liquid cargo containment system |
| CN114871639A (en) * | 2022-04-19 | 2022-08-09 | 上海寰宇物流科技有限公司 | Automatic welding device for end plate corner post lap joint laser tracking |
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