CN115213523A - Welding seam tracking and laser deviation correcting calibration system and laser tracking welding robot - Google Patents
Welding seam tracking and laser deviation correcting calibration system and laser tracking welding robot Download PDFInfo
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- CN115213523A CN115213523A CN202210954551.6A CN202210954551A CN115213523A CN 115213523 A CN115213523 A CN 115213523A CN 202210954551 A CN202210954551 A CN 202210954551A CN 115213523 A CN115213523 A CN 115213523A
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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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
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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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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Abstract
The invention discloses a welding line tracking and laser deviation rectifying calibration system and a laser tracking welding robot, which comprise a mechanical arm, a supporting box, a first motor and a supporting rod, wherein one end of the mechanical arm is provided with the protecting box, the supporting box is arranged on the inner wall of the protecting box, the first motor is arranged on the inner wall of the protecting box, the supporting rod is arranged on the outer wall of the protecting box, and a second motor is arranged on the inner wall of the supporting box. The cold row, the fan blade and the clamping rod are arranged, so that the effects of prolonging the service life of the welding head by cooling and quickly replacing the welding rod are achieved, the fan blade rotates to generate wind power, the wind power blows the cold row to enable the heat generated by the welding head to be dispersed through the cold row and discharged through the through hole, the pressing head is pressed to drive the clamping rod to move, the clamping rod moves to enable the bearing to move, the bearing moves to drive the second spring to move, the second spring moves to enable the clamping rod to move out of the bayonet to enable the welding rod to be quickly replaced, and the functions of prolonging the service life of the welding head by cooling and quickly replacing the welding rod are achieved.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a welding seam tracking and laser deviation rectifying calibration system and a laser tracking welding robot.
Background
The laser deviation correction is equivalent to a pair of eyes for the robot, a welding seam is easily affected by deformation, variable gaps and assembly errors in the welding process, so that the welding seam has larger deviation in the welding process, the welding robot needs to be controlled in real time to correct the deviation of the welding seam in order to improve the welding quality, and a laser tracking system is an auxiliary system in the whole equipment welding process and has the effects of automatically identifying the welding part and automatically adjusting the welding machine in the whole welding process, so that the welding can be carried out along with the welding part all the time, the distance between the welding machine and a product workpiece is continuously kept stable, the welding quality is further ensured, the welding high efficiency is improved, and the labor efficiency of workers is reduced.
The existing welding robot has the following defects:
1. patent document CN110449796B discloses a welding robot, "including the mounting bracket, mounting bracket upper portion bolted connection has the seat that goes up and down, and seat tip fixed mounting goes up and down has first welding mechanism, and first welding mechanism below is equipped with second welding mechanism, is equipped with the angle adjustment mechanism who is used for adjusting second welding mechanism welding angle on the mounting bracket, and the mounting bracket includes the support body and evenly sets up a plurality of first locking holes on the support body, and it is equipped with multiunit second locking hole to correspond on the seat that goes up and down. The welding angle of the second welding mechanism is adjusted through the angle adjusting mechanism, so that different angle positions of the pipe to be welded can be welded, the welding efficiency is effectively improved, the welding height of the first welding mechanism is adjusted through the up-and-down movement of the lifting seat, so that the welding height of the first welding mechanism is adjusted, the application range is effectively improved, and the problem that the existing welding robot cannot weld the pipe at different angle positions is solved. "but there is no corresponding cooling mechanism to cause the service life of the welding head to be shortened, very inconvenient;
2. patent document CN111168290B discloses a welding robot, "including the device support, the movable support, welding mechanism, the sliding support subassembly, change the support, deflection support i, deflection support ii and supporting mechanism, drive welding mechanism through the movable support and slide on the device support, adjustment welding mechanism's welding position, accomplish the welding to two deflection support between ii that are located the well side panel through welding mechanism, two deflection support ii that are located the well side produce certain deflection angle under supporting mechanism's support, the deformation that produces when welding panel sets up in advance in reverse, offset the deformation that produces when panel welding is accomplished, when the panel that is located between the deflection support ii of well side is accomplished the welding, pull two sliding support subassemblies and slide on the device support, accomplish the change of welding panel, two panels that the welding that change was accomplished no longer receive supporting mechanism's support, at the torsional spring, self gravity and heat stress effect down become flat gradually. "however, there is no corresponding laser fine-tuning mechanism to cause inaccurate laser measurement, which is very inconvenient;
3. the patent document CN106078025B discloses a welding robot, "which includes a base, a vertical frame, a rotating disc, a rotating motor, a rotating belt, a large belt pulley, etc., wherein the vertical frame is installed on one side of the base, the rotating disc is rotatably installed at the central position of the base, and the large belt pulley is coaxially installed at the lower part of the rotating disc; the two welding sliding rails are respectively and horizontally arranged on the upper part of the vertical frame, and the welding moving rack is arranged on one side of the welding sliding rail in parallel; the welding installation plate is slidably installed on the two welding slide rails; the welding moving motor is arranged on the front surface of the welding mounting plate, a welding moving gear is arranged on a main shaft of the welding moving motor, and the welding moving gear is meshed with the welding moving rack; the welding installation disc is coaxially installed on the welding gear ring; the welding shaft is coaxially arranged on the welding head rotating driven gear; the welding head is arranged at the end part of the welding shaft. The welding head with multiple degrees of freedom is arranged, so that the aim of high-efficiency and high-quality welding is fulfilled; the invention has simple structure and convenient operation. "however, there is no corresponding deburring mechanism, which causes fine burrs to appear after welding, and is very inconvenient.
Disclosure of Invention
The invention aims to provide a welding seam tracking and laser deviation rectifying calibration system and a laser tracking welding robot, and aims to solve the problems of lack of a cooling mechanism, a laser fine adjustment mechanism and a deburring mechanism in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a welding line tracking and laser deviation rectifying calibration system and a laser tracking welding robot comprise an mechanical arm, a supporting box, a first motor and a supporting rod, wherein a protecting box is installed at one end of the mechanical arm, the supporting box is installed on the inner wall of the protecting box, the first motor is installed on the inner wall of the protecting box, and the supporting rod is installed on the outer wall of the protecting box;
the inner wall of the supporting box is provided with a second motor, the output end of the second motor is provided with a fan blade, the top of the supporting box is provided with a storage box, the top of the protection box is provided with a machine cover, the inner wall of the supporting box is provided with a cold row, and one end of the cold row is provided with a conveying pipe;
the bottom of protection box runs through to be installed the bonding tool, first branch is installed to the bottom of protection box, the base is installed to the one end of arm.
Preferably, the screw rod is installed to the output of first motor, and the sleeve is installed to the outer wall of screw rod, and the probe is installed to telescopic one end, and second branch is installed at the top of probe, and the change ring is installed to the end of second branch, and the outer wall of change ring and the inner wall connection of protection box.
Preferably, the outer wall of bracing piece is equipped with the air outlet, and third branch is installed to the inner wall of bracing piece, and first spring is installed to the outer wall of third branch, and fourth branch is installed to the one end of first spring, and the tool bit is installed to the outer wall of fourth branch, and the third motor is installed to the inner wall of bracing piece, and the runner is installed to the output of third motor, and the cam is installed to the outer wall of runner.
Preferably, a fourth motor is installed on the inner wall of the mechanical arm, and a fifth motor is installed on the outer wall of the mechanical arm.
Preferably, the inner wall of bonding tool is equipped with the cooling channel, and the inner wall of cooling channel is connected with the one end of conveyer pipe, and the support is installed to the inner wall of bonding tool, and the second spring is installed to the outer wall of support, and the kelly is installed to the one end of second spring, and the bearing is installed to the outer wall of kelly, and the pressure head is installed to the outer wall of kelly, and the welding rod is installed to the inner wall of bonding tool, and the outer wall of welding rod is equipped with the bayonet socket.
Preferably, the slide is installed to the inner wall of first branch, and the pulley is installed to the inner wall of slide, and the inner wall of pulley runs through to install sixth branch, and the sixth motor is installed to the one end of sixth branch, and a dust removal section of thick bamboo is installed to the outer wall of sixth branch, and the gear is installed to sixth branch one end, and the rack is installed to the inner wall of first branch.
Preferably, the outer wall of protection box is equipped with the through-hole, and the bottom of protection box is run through and is installed the camera, the inner wall installation treater of protection box.
Preferably, a seventh motor is installed at the top of the base, a support plate is installed at the bottom of the base, and a fixing port is formed in the top of the support plate.
Compared with the prior art, the invention has the beneficial effects that:
1. the cooling device is provided with the cold row, the fan blade and the clamping rod, so that the effects of prolonging the service life of the welding head by cooling and quickly replacing the welding rod are realized, the bearing is used for facilitating the movement of the clamping rod, the heat generated by the welding head is conveyed into the cold row through the conveying pipe, the second motor rotates to drive the fan blade to rotate, the fan blade rotates to generate wind power, the wind power blows to the cold row to enable the heat generated by the welding head to be dispersed through the cold row and to be discharged through the through hole, the cover is pulled to enable the cooling liquid to be conveniently replaced, the pressing head is pressed to drive the clamping rod to move, the clamping rod moves to enable the bearing to move, the bearing moves to drive the second spring to move, the second spring moves to enable the clamping rod bayonet to move out to enable the welding rod to be quickly replaced, and the functions of prolonging the service life of the welding head by cooling and quickly replacing the welding rod are realized;
2. according to the invention, the screw, the dust removing cylinder and the rack are mounted, so that the effects of increasing the measurement accuracy by fine tuning of the probe and increasing the detection accuracy by automatic cleaning of the camera are realized, the rack is used for providing a moving condition for the gear, the first motor rotates to drive the screw to rotate, the screw rotates to drive the sleeve to move, the sleeve moves to drive the probe to move, the probe moves to drive the second supporting rod to move, the second supporting rod moves to drive the swivel to move, the swivel moves to realize fine tuning of the probe and increase the measurement accuracy, the sixth motor rotates to drive the sixth supporting rod to rotate, the sixth supporting rod rotates to drive the gear to rotate, the gear rotates to drive the gear to move on the rack, the rack is meshed with the gear, the gear rotates to drive the sixth supporting rod to move, the dust removing cylinder moves to drive the camera to automatically clean and increase the detection accuracy, and the functions of increasing the measurement accuracy by fine tuning of the probe and increasing the detection accuracy by automatic cleaning of the camera are realized;
3. according to the deburring device, the cutter head, the third motor and the cam are installed, the deburring effect after welding is achieved, the third motor is used for providing power for deburring, the fourth support rod is used for supporting the cutter head, the cutter head is used for facilitating deburring, the processor is installed on the inner wall of the protection box, the rotating wheel is used for facilitating rotation of the cam, the cam is used for supporting the third support rod and supporting the first spring, the third motor rotates to drive the rotating wheel to rotate, the rotating wheel rotates to drive the cam to rotate, the cam rotates to drive the fourth support rod to move, the fourth support rod moves to drive the first spring to move, the cutter head is vibrated by the first spring to achieve the deburring effect after welding, the camera collects pictures after welding and sends signals after the pictures are processed by the processor, and the deburring function after welding is achieved.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic structural view of a support case according to the present invention;
FIG. 4 is a schematic view of a first motor structure according to the present invention;
FIG. 5 is a schematic view of the supporting rod of the present invention;
FIG. 6 is a schematic view of a weld head configuration of the present invention;
FIG. 7 is a schematic view of a first strut structure according to the present invention;
fig. 8 is a schematic structural diagram of the protective box of the present invention.
In the figure: 1. a mechanical arm; 101. a fourth motor; 102. a fifth motor; 2. a support box; 201. a delivery pipe; 202. a fan blade; 203. a second motor; 204. a machine cover; 205. a storage box; 206. cold discharging; 3. a first motor; 301. a sleeve; 302. a probe; 303. a screw; 304. rotating the ring; 305. a second support bar; 4. a support bar; 401. an air outlet; 402. a fourth strut; 403. a cam; 404. a rotating wheel; 405. a third motor; 406. a third support bar; 407. a first spring; 408. a cutter head; 5. a welding head; 501. a second spring; 502. a clamping rod; 503. a support; 504. a pressure head; 6. a first strut; 601. a dust removal cylinder; 602. a gear; 603. a rack; 604. a pulley; 605. a sixth motor; 7. a protective box; 701. a through opening; 702. a camera; 703. a processor; 8. a base; 801. a seventh motor; 802. a support plate; 803. and (4) fixing the port.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1: referring to fig. 1 and fig. 2, an embodiment of the present invention: a welding line tracking and laser deviation rectifying calibration system and a laser tracking welding robot comprise a mechanical arm 1, a support box 2, a first motor 3 and a support rod 4, wherein the mechanical arm 1 is used for facilitating the operation of a device, the support box 2 is used for supporting a second motor 203, the first motor 3 is used for facilitating the movement of a probe 302, the support rod 4 is used for supporting a third motor 405, a protection box 7 is installed at one end of the mechanical arm 1, the protection box 7 is used for supporting the support box 2, the support box 2 is installed on the inner wall of the protection box 7, the first motor 3 is installed on the inner wall of the protection box 7, the support rod 4 is installed on the outer wall of the protection box 7, a welding head 5 is installed at the bottom of the protection box 7 in a penetrating mode, the welding head 5 is used for supporting a welding rod, first branch 6 is installed to the bottom of protection box 7, first branch 6's effect is for rack 603 provides the support, base 8 is installed to the one end of arm 1, base 8's effect is for providing the support for arm 1, fourth motor 101 is installed to the inner wall of arm 1, the effect of fourth motor 101 is the operation that makes things convenient for arm 1, fifth motor 102 is installed to the outer wall of arm 1, the effect of fifth motor 102 is the motion that makes things convenient for arm 1, seventh motor 801 is installed at the top of base 8, the effect of seventh motor 801 is the motion that makes things convenient for arm 1, extension board 802 is installed to the bottom of base 8, the effect of extension board 802 is for providing the support for arm 1, the top of extension board 802 is equipped with fixed mouthful 803, the effect of fixed mouthful 803 is for arm 1 provides fixedly.
Example 2: referring to fig. 3 and 6, an embodiment of the present invention: the inner wall of the supporting box 2 is provided with a second motor 203, the output end of the second motor 203 is provided with a fan blade 202, the top of the supporting box 2 is provided with a storage box 205, the top of the protecting box 7 is provided with a cover 204, the inner wall of the supporting box 2 is provided with a cold row 206, one end of the cold row 206 is provided with a conveying pipe 201, the inner wall of the welding head 5 is provided with a cooling channel, the inner wall of the cooling channel is connected with one end of the conveying pipe 201, the inner wall of the welding head 5 is provided with a bracket 503, the outer wall of the bracket 503 is provided with a second spring 501, one end of the second spring 501 is provided with a clamping rod 502, the outer wall of the clamping rod 502 is provided with a bearing, the outer wall of the clamping rod 502 is provided with a pressure head 504, the inner wall of the welding rod 5 is provided with a bayonet, the bearing is used for facilitating the movement of the clamping rod 502, and the bayonet is used for facilitating the clamping of the clamping rod 502, the pressure head 504 is used for providing conditions for the movement of the clamping rod 502, the storage box 205 is used for facilitating the storage of cooling liquid, the support 503 is used for supporting the second spring 501, heat generated by the welding head 5 is conveyed into the cold bar 206 through the conveying pipe 201, the second motor 203 rotates to drive the fan blade 202 to rotate, the fan blade 202 rotates to generate wind power, the wind power blows towards the cold bar 206 to enable the heat generated by the welding head 5 to be dispersed through the cold bar 206 and discharged through the through hole 701, the cover 204 is pulled to enable the cooling liquid to be conveniently replaced, the pressure head 504 is pressed to drive the clamping rod 502 to move, the clamping rod 502 moves to enable the bearing to move, the bearing moves to drive the second spring 501 to move, the second spring 501 moves to enable the clamping rod 502 to move out of the bayonet to enable the welding rod to be rapidly replaced, the cooling of the welding head 5 is prolonged in service life, and the function of rapidly replacing the welding rod is achieved.
Example 3: referring to fig. 4 and 7, an embodiment of the present invention: the output end of the first motor 3 is provided with a screw 303, the outer wall of the screw 303 is provided with a sleeve 301, one end of the sleeve 301 is provided with a probe 302, the top of the probe 302 is provided with a second support rod 305, the end of the second support rod 305 is provided with a rotating ring 304, the outer wall of the rotating ring 304 is connected with the inner wall of the protection box 7, the inner wall of the first support rod 6 is provided with a slide way, the inner wall of the slide way is provided with a pulley 604, the inner wall of the pulley 604 is provided with a sixth support rod in a penetrating way, one end of the sixth support rod is provided with a sixth motor 605, the outer wall of the sixth support rod is provided with a dust removing cylinder 601, one end of the sixth support rod is provided with a gear 602, the inner wall of the first support rod 6 is provided with a rack 603, the function of the rack 603 is to provide a moving condition for the gear 602, the slide way is used for providing a moving place for the pulley 604, the function of the pulley 604 is used for facilitating the movement of the sixth support rod, the first motor 3 rotates to drive the screw 303 to rotate, the screw 303 rotates to drive the sleeve 301 to move, the sleeve 301 moves to drive the probe 302 to move, the probe 302 moves to drive the second supporting rod 305 to move, the second supporting rod 305 moves to drive the rotating ring 304 to move, the rotating ring 304 moves to enable the probe 302 to achieve fine adjustment and increase the measurement accuracy, the sixth motor 605 rotates to drive the sixth supporting rod to rotate, the sixth supporting rod rotates to drive the gear 602 to rotate, the gear 602 rotates to enable the gear 602 to move on the rack 603, the rack 603 is meshed with the gear 602, the gear 602 rotates to enable the sixth supporting rod to move, the sixth supporting rod moves to drive the dust removal cylinder 601 to move, the dust removal cylinder 601 moves to enable the camera 702 to automatically clean and increase the detection accuracy, and the functions of enabling the probe 302 to achieve fine adjustment and increase the measurement accuracy and enabling the camera 702 to automatically clean and increase the detection accuracy are achieved.
Example 4: referring to fig. 5 and 8, an embodiment of the present invention: an air outlet 401 is formed in the outer wall of the supporting rod 4, a third supporting rod 406 is installed on the inner wall of the supporting rod 4, a first spring 407 is installed on the outer wall of the third supporting rod 406, a fourth supporting rod 402 is installed at one end of the first spring 407, a cutter head 408 is installed on the outer wall of the fourth supporting rod 402, a third motor 405 is installed on the inner wall of the supporting rod 4, a rotating wheel 404 is installed at the output end of the third motor 405, a cam 403 is installed on the outer wall of the rotating wheel 404, a through hole 701 is formed in the outer wall of the protection box 7, a camera 702 is installed at the bottom of the protection box 7 in a penetrating mode, power is provided for burr removal through the third motor 405, the fourth supporting rod 402 serves to provide support for the first spring 407, the third motor 405 rotates to drive the rotating wheel 404 to rotate, the rotating wheel 404 rotates to drive the cam 403 to rotate, the cam 403 rotates to drive the fourth supporting rod 402 to move, the first spring 406 moves, the first spring drives the first spring 407 to move, and a deburring signal collecting and processing function of the deburring after the deburring of the camera head 703 is achieved through welding signal collecting and the deburring processing function after the welding signal is achieved.
The working principle is that the mechanical arm 1 is used for facilitating the operation of the device, the support box 2 is used for supporting the second motor 203, the first motor 3 is used for facilitating the movement of the probe 302, the support rod 4 is used for supporting the third motor 405, the protection box 7 is used for supporting the support box 2, the welding head 5 is used for supporting the welding rod, the first support rod 6 is used for supporting the rack 603, the base 8 is used for supporting the mechanical arm 1, the bearing is used for facilitating the movement of the clamping rod 502, the bayonet is used for facilitating the clamping of the clamping rod 502, the pressure head 504 is used for providing conditions for the movement of the clamping rod 502, the storage box 205 is used for facilitating the storage of cooling liquid, the support 503 is used for providing support for the second spring 501, heat generated by the welding head 5 is conveyed into the cold row 206 through the conveying pipe 201, the second motor 203 rotates to drive the fan blade 202 to rotate, the fan blade 202 rotates to generate wind power, the wind power blows to the cold row 206 to enable heat generated by the welding head 5 to be dispersed through the cold row 206 and to be discharged through the through hole 701, the cover 204 is pulled to enable cooling liquid to be conveniently replaced, the pressure head 504 is pressed to drive the clamping rod 502 to move, the clamping rod 502 moves to enable the bearing to move, the bearing moves to drive the second spring 501 to move, the second spring 501 moves to enable the clamping rod 502 to move out of a bayonet to enable the welding rod to be quickly replaced, cooling service life of the welding head 5 is prolonged, and the function of quickly replacing the welding rod is achieved, the rack 603 serves to provide moving conditions for the gear 602, the slideway serves to provide a moving place for the pulley 604, the pulley 604 serves to facilitate movement of the sixth supporting rod, the first motor 3 rotates to drive the screw rod 303 to rotate, the screw rod 303 rotates to drive the sleeve 301 to move, the sleeve 301 moves to drive the probe 302 to move, the probe 302 moves to drive the second supporting rod 305 to move, the second support bar 305 moves to drive the rotating ring 304 to move, the rotating ring 304 moves to enable the probe 302 to achieve fine adjustment and increase measurement accuracy, the sixth motor 605 rotates to drive the sixth support bar to rotate, the sixth support bar rotates to drive the gear 602 to rotate, the gear 602 rotates to enable the gear to move on the rack 603, the rack 603 is meshed with the gear 602, the gear 602 rotates to enable the sixth support bar to move, the sixth support bar moves to drive the dust removing cylinder 601 to move, the dust removing cylinder 601 moves to enable the camera 702 to automatically clean and increase detection accuracy, the functions of achieving fine adjustment and increase measurement accuracy and achieving automatic cleaning and increase detection accuracy of the camera 702 are achieved, the third motor 405 serves to provide power for removing burrs, the fourth support bar 402 serves to provide support for the cutter head 408, the cutter head 408 serves to facilitate removing of burrs, a processor 703 is installed on the inner wall of the protection box 7, the rotating wheel 404 serves to facilitate rotation of the cam 403, the cam 403 serves to provide support for the first spring 407, the third motor 405 rotates to drive the rotating wheel 404 to rotate, the cam 403 drives the cam 403 to drive the cam 403 to rotate, the cam 403 to drive the camera head to move, and achieve a deburring processing function of collecting a deburring after welding signal is obtained by welding signal of the first spring 407.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a calibration system, laser tracking welding robot are rectified with laser to welding seam tracking, includes arm (1), support box (2), first motor (3) and bracing piece (4), its characterized in that: a protection box (7) is installed at one end of the mechanical arm (1), a supporting box (2) is installed on the inner wall of the protection box (7), a first motor (3) is installed on the inner wall of the protection box (7), and a supporting rod (4) is installed on the outer wall of the protection box (7);
a second motor (203) is installed on the inner wall of the supporting box (2), fan blades (202) are installed at the output end of the second motor (203), a storage box (205) is installed at the top of the supporting box (2), a cover (204) is installed at the top of the protection box (7), a cold row (206) is installed on the inner wall of the supporting box (2), and a conveying pipe (201) is installed at one end of the cold row (206);
the welding head (5) is installed in the bottom of the protection box (7) in a penetrating mode, the first supporting rod (6) is installed at the bottom of the protection box (7), and the base (8) is installed at one end of the mechanical arm (1).
2. The welding seam tracking and laser deviation correcting and calibrating system and the laser tracking welding robot as claimed in claim 1, wherein: screw rod (303) are installed to the output of first motor (3), and sleeve (301) are installed to the outer wall of screw rod (303), and probe (302) are installed to the one end of sleeve (301), and second branch (305) are installed at the top of probe (302), and swivel (304) are installed to the end of second branch (305), and the outer wall of swivel (304) and the inner wall connection of protection box (7).
3. The welding seam tracking and laser deviation correcting and calibrating system and the laser tracking welding robot as claimed in claim 1, wherein: the outer wall of bracing piece (4) is equipped with air outlet (401), third branch (406) are installed to the inner wall of bracing piece (4), first spring (407) are installed to the outer wall of third branch (406), fourth branch (402) are installed to the one end of first spring (407), tool bit (408) are installed to the outer wall of fourth branch (402), third motor (405) are installed to the inner wall of bracing piece (4), runner (404) are installed to the output of third motor (405), cam (403) are installed to the outer wall of runner (404).
4. The welding seam tracking and laser deviation correcting and calibrating system and the laser tracking welding robot as claimed in claim 1, wherein: a fourth motor (101) is installed on the inner wall of the mechanical arm (1), and a fifth motor (102) is installed on the outer wall of the mechanical arm (1).
5. The welding seam tracking and laser deviation correcting and calibrating system and the laser tracking welding robot as claimed in claim 1, wherein: the inner wall of bonding tool (5) is equipped with the cooling channel, and the inner wall of cooling channel is connected with the one end of conveyer pipe (201), support (503) are installed to the inner wall of bonding tool (5), second spring (501) are installed to the outer wall of support (503), kelly (502) are installed to the one end of second spring (501), the bearing is installed to the outer wall of kelly (502), pressure head (504) are installed to the outer wall of kelly (502), the welding rod is installed to the inner wall of bonding tool (5), the outer wall of welding rod is equipped with the bayonet socket.
6. The welding seam tracking and laser deviation correcting and calibrating system and the laser tracking welding robot as claimed in claim 1, wherein: the slide is installed to the inner wall of first branch (6), and pulley (604) are installed to the inner wall of slide, and the inner wall of pulley (604) runs through and installs sixth branch, and sixth motor (605) are installed to the one end of sixth branch, and dust removal cylinder (601) are installed to the outer wall of sixth branch, and gear (602) are installed to sixth branch one end, and rack (603) are installed to the inner wall of first branch (6).
7. The welding seam tracking and laser deviation correcting and calibrating system and the laser tracking welding robot as claimed in claim 1, wherein: the outer wall of protection box (7) is equipped with through-hole (701), and camera (702) are installed in the bottom of protection box (7) through-going, and treater (703) are installed to the inner wall of protection box (7).
8. The welding seam tracking and laser deviation correcting and calibrating system and the laser tracking welding robot as claimed in claim 1, wherein: the seventh motor (801) is installed at the top of the base (8), the supporting plate (802) is installed at the bottom of the base (8), and the top of the supporting plate (802) is provided with a fixing port (803).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210954551.6A CN115213523A (en) | 2022-08-10 | 2022-08-10 | Welding seam tracking and laser deviation correcting calibration system and laser tracking welding robot |
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| CN202210954551.6A CN115213523A (en) | 2022-08-10 | 2022-08-10 | Welding seam tracking and laser deviation correcting calibration system and laser tracking welding robot |
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| CN117548783A (en) * | 2023-12-22 | 2024-02-13 | 江苏凌达自动化科技有限公司 | Welding robot capable of automatically feeding wires and wire feeding method thereof |
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