CN116275510A - Four-station vision positioning laser welding device and method for silicon steel sheets of motor stator - Google Patents
Four-station vision positioning laser welding device and method for silicon steel sheets of motor stator Download PDFInfo
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- CN116275510A CN116275510A CN202310553622.6A CN202310553622A CN116275510A CN 116275510 A CN116275510 A CN 116275510A CN 202310553622 A CN202310553622 A CN 202310553622A CN 116275510 A CN116275510 A CN 116275510A
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- 238000003466 welding Methods 0.000 title claims abstract description 155
- 229910000976 Electrical steel Inorganic materials 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 42
- 238000005056 compaction Methods 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 238000003825 pressing Methods 0.000 claims description 34
- 239000003921 oil Substances 0.000 claims description 32
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 238000013016 damping Methods 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 239000000306 component Substances 0.000 description 25
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 4
- 229910052786 argon Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Optics & Photonics (AREA)
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- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The invention relates to the technical field of laser welding, in particular to a four-station visual positioning laser welding device and method for a motor stator silicon steel sheet. This four-station vision positioning laser welding device of motor stator silicon steel sheet fixes a position stator silicon steel sheet through the anchor clamps subassembly of material loading station department, simultaneously can drive anchor clamps subassembly rotation movement adjustment position at the cooperation and transfer material subassembly, but respectively remove pre-compaction subassembly, laser welding subassembly and take off material subassembly department and handle, consequently can detect stator silicon steel sheet quantity in proper order, quality when can improving laser welding simultaneously can realize automatic material that takes off at last, consequently can realize automatic and intelligent production to can improve welded quality, and can realize mass production.
Description
Technical Field
The invention relates to the technical field of laser welding, in particular to a four-station vision positioning laser welding device and method for a motor stator silicon steel sheet.
Background
One of the core components of the new energy automobile is a driving motor, the mass production of the new energy automobile is realized, the production efficiency and the production quality of the motor stator silicon steel sheet lamination welding are improved, argon arc welding is adopted by most of enterprises at present, the heat and the internal stress after the argon arc welding are large, and the situation of weld cracking is easy to occur. The laser welding is to focus the laser beam with high power density output by the laser to make the laser beam have small light spot, concentrated energy, high density and high heating efficiency, so that the welded silicon steel sheet is not easy to crack, and the welding efficiency and the welding quality are high.
At present, in the prior art, for example, a manual clamping type motor stator laser welding device proposed in publication number CN 208675065U is used for manually clamping a stator on a tool, the tool is fixed on a hollow rotary table, and a single laser head is used for matching with the hollow rotary table to rotate so as to realize multi-channel welding of silicon steel sheets of the stator. The scheme adopts manual lamination, does not have a stripping device, is difficult to separate from a tool due to micro-deformation of a stator after welding, has low efficiency of a single-head laser welding machine, is not suitable for mass production, and is more unsuitable for automatic and intelligent production.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides the following technical solutions:
the four-station visual positioning laser welding device for the motor stator silicon steel sheet comprises a four-station feeding platform, a laser welding assembly and a pre-pressing assembly, wherein the laser welding assembly and the pre-pressing assembly are positioned at the outer side of the four-station feeding platform;
the laser welding assembly comprises a welding base, a rotating assembly and a station moving assembly are arranged on the welding base, a station vision camera assembly and a right station welding head are arranged on the station moving assembly, and an auxiliary rotating assembly is arranged on a table top of the rotating assembly.
Further, the auxiliary rotating assembly comprises a first four-column frame plate arranged on a table top of the rotating assembly, a pushing oil cylinder is arranged at the top of the first four-column frame plate, a first lifting plate is arranged at the output end of the pushing oil cylinder through a second pressure sensor, and a follow-up rotating pressure plate is arranged at the bottom of the lifting plate.
Further, the rotatory material subassembly that moves is including being located the inside fixed bottom plate of material platform base that moves, and transfer hydro-cylinder is installed to the bottom of bottom plate, and transfer the top of hydro-cylinder and be fixed with supporting component, installs four station cam divider on supporting component's the platform, and four station cam divider's rotation end is fixed with the revolving platform that laminates with supporting component, installs the conductive slip ring that is located the center on the revolving platform and is located four servo module subassemblies all around, installs the flexible arm on the servo module subassembly, the anchor clamps subassembly is installed to flexible arm end.
Further, take off material subassembly including being located the top of moving the material platform base and be connected with the fixed plate, two sets of clamp plate subassemblies are installed at the top of fixed plate, the bottom of fixed plate is fixed with four guide arms, is connected with the hydro-cylinder mounting panel between the bottom of four guide arms, and ejecting hydro-cylinder is installed to the bottom of hydro-cylinder mounting panel, and ejecting end of ejecting hydro-cylinder is fixed with the fly leaf of cup jointing on four guide arms, and the top of fly leaf is fixed with the ejector pin that is connected with taking off the material board.
Further, the pre-compaction subassembly includes the pre-compaction base, be fixed with No. two four post support bodies on the pre-compaction base, slidable mounting has No. two lifter plates on the guide post of No. two four post support bodies, and the pre-compaction hydro-cylinder is installed at No. two four post support bodies's top, and the ejecting end of pre-compaction hydro-cylinder is connected with No. two lifter plates through a pressure sensor, and pressure head and range sensor are installed to No. two lifter plates's bottom, the top of pre-compaction base is fixed with the measuring rod that is located range sensor below.
Further, be provided with circular constant head tank on the flexible arm, put the anchor clamps subassembly in its circular constant head tank, the anchor clamps subassembly is including placing the frock base in the circular constant head tank of flexible arm, and frock base's internally mounted has the frock dabber, and the outside of frock dabber has cup jointed and has taken off the flitch.
Further, the conductive slip ring is located between the four servo module assemblies, and is electrically connected with the four servo module assemblies, the support assembly comprises a support column provided with a damping assembly, and a pulley is arranged at the top of the damping assembly.
Further, the platen assembly includes a platen, a spool passing through the fixed plate, and an air cylinder mounted below the fixed plate, and the platen is fixed to an ejection end of the air cylinder.
A vision positioning laser welding method, comprising the steps of:
the rotating assembly drives the motor stator silicon steel sheet to rotate to the welding station angle;
the station moving assembly drives the station welding head to move transversely so as to be opposite to a target welding seam of the motor stator silicon steel sheet;
starting a station visual camera assembly, driving the station visual camera assembly to move up and down, shooting high-definition images near the starting point position and the end point position of a target welding line, and calculating the length of the welding line and the starting point and the end point position of the welding line;
the station moving assembly drives the station welding head to move up and down, the station welding head moves from the welding start position to the welding end position of the target welding line to weld, and after the welding of the target welding line is finished, the rotating assembly drives the motor stator silicon steel sheet to rotate to the angle of the next welding station.
Further, the process of calculating the weld length and the starting and ending positions of the weld is as follows:
the station vision camera component moves from top to bottom, when the station vision camera component is near the starting point position of a target welding line, an edge pixel curve of the target welding line position of the top silicon steel sheet is recognized in real time, and when the difference value between the y coordinate of the midpoint of the edge pixel curve and the y coordinate of two endpoints of the edge pixel curve is close to 0, the position coordinate D1 of the station vision camera component under the coordinate system of the station movement component at the moment is recorded; when the difference value between the y coordinate of the midpoint of the edge pixel curve and the y coordinates of the two endpoints of the edge pixel curve is close to 0, recording the position coordinate D2 of the station vision camera component under the coordinate system of the station moving component at the moment;
calculating the length DL=D2-D1-2D 0 of the welding seam, wherein the starting point position of the welding seam is D1+d0-D, the end point position of the welding seam is D2-D0-D, D0 is the thickness of the silicon steel sheet, and D is the distance between the station vision camera component and the station welding head.
Compared with the prior art, the technical scheme of the application has the following beneficial effects:
this four-station vision positioning laser welding device of motor stator silicon steel sheet fixes a position stator silicon steel sheet through the anchor clamps subassembly of material loading station department, simultaneously can drive anchor clamps subassembly rotation movement adjustment position at the cooperation and transfer material subassembly, but respectively remove pre-compaction subassembly, laser welding subassembly and take off material subassembly department and handle, consequently can detect stator silicon steel sheet quantity in proper order, quality when can improving laser welding simultaneously can realize automatic material that takes off at last, consequently can realize automatic and intelligent production to can improve welded quality, and can realize mass production.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a four-station loading platform in the structure of the present invention;
FIG. 3 is a schematic view of a rotary platform in the structure of the present invention;
FIG. 4 is a front view of the structure of FIG. 3 in accordance with the present invention;
FIG. 5 is a schematic view of a precompaction assembly in the present construction;
FIG. 6 is a schematic view of a laser welder assembly in the construction of the present invention;
FIG. 7 is a schematic view of a stripping assembly in the structure of the present invention.
In the figure: 1. a four-station feeding platform; 2. a laser welding assembly; 3. a pre-pressing assembly; 4. a clamp assembly; 5. pre-pressing an oil cylinder; 6. a first pressure sensor; 7. a ranging sensor; 8. an upper pressure head; 9. a measuring rod; 10. pre-pressing a base; 11. pushing the oil cylinder; 12. a second pressure sensor; 13. a follow-up rotary pressure plate; 14. a right station vision camera assembly; 15. a right station welding head; 16. a right station moving assembly; 17. welding a base; 18. a rotating assembly; 19. a left station moving assembly; 20. a left station welding head; 21. a left station vision camera assembly; 22. a spin transfer assembly; 23. a feeding station; 24. a material moving platform base; 25. a stripping assembly; 26. a conductive slip ring; 27. a telescoping arm; 28. a servo module assembly; 29. rotating the platform; 30. a bottom plate; 31. transferring the oil cylinder; 32. a four-position cam divider; 33. a support assembly; 34. a tooling mandrel; 35. stator silicon steel sheet; 36. a stripper plate; 37. a tooling base; 38. a platen assembly; 39. a fixing plate; 40. a push rod; 41. a movable plate; 42. a guide rod; 43. an oil cylinder mounting plate; 44. and (5) ejecting the oil cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the four-station vision positioning laser welding device for the motor stator silicon steel sheet in the embodiment comprises a four-station feeding platform 1, a laser welding assembly 2 and a pre-pressing assembly 3, wherein the laser welding assembly 2 and the pre-pressing assembly 3 are arranged on the outer side of the four-station feeding platform 1, the four-station feeding platform 1 comprises a material moving platform base 24, a rotary material moving assembly 22, a feeding station 23 and a material removing assembly 25 are respectively arranged on the material moving platform base 24, the rotary material moving assembly 22 is positioned at the center, clamp assemblies 4 are respectively arranged at four ends of the rotary material moving assembly 22, stator silicon steel sheets 35 are fixed on the clamp assemblies 4, and positioning pins are respectively arranged on the platforms of the feeding station 23, the material removing assembly 25, the laser welding assembly 2 and the pre-pressing assembly 3.
In the structure of the invention, the fixture assembly 4 on the feeding station 23 is used for positioning the stator silicon steel sheet 35, and then the rotary material transferring assembly 22 is matched for transferring the stator silicon steel sheet 35 to the pre-pressing assembly 3, the laser welding assembly 2 and the material removing assembly 25 in sequence for processing, so that the automatic and intelligent production can be realized, and meanwhile, the welding quality and mass production can be improved.
The structure of the invention is as shown in fig. 3-4, in order to realize the function of rotary material transferring, the rotary material transferring assembly 22 comprises a bottom plate 30 fixed in a material transferring platform base 24, a transferring oil cylinder 31 is arranged at the bottom of the bottom plate 30, a supporting assembly 33 is fixed at the top end of the transferring oil cylinder 31, a four-station cam divider 32 is arranged on the platform of the supporting assembly 33, a rotary platform 29 attached to the supporting assembly 33 is fixed at the rotating end of the four-station cam divider 32, a centrally positioned conductive slip ring 26 and four servo module assemblies 28 are arranged on the rotary platform 29, telescopic arms 27 are arranged on the servo module assemblies 28, the clamp assemblies 4 are arranged at the tail ends of the telescopic arms 27, the conductive slip ring 26 is arranged between the four servo module assemblies 28, the conductive slip ring 26 is electrically connected with the four servo module assemblies 28, the supporting assembly 33 comprises a supporting column provided with a shock absorbing assembly, and a pulley is arranged at the top of the shock absorbing assembly and is slidingly connected with the bottom of the rotary platform 29. The support assembly 33 can be jacked up through the transfer oil cylinder 31, so that the clamp assembly 4 can be driven by the telescopic arm 27 to be separated from the positioning pins of each station, the rotary platform 29 is driven by the four-station cam divider 32 to rotate, the telescopic arm 27 can be driven to move by being matched with the servo module assembly 28, and the stator silicon steel sheet 35 can be driven to move to a designated station for processing, so that the effect of rotary transfer is realized.
In order to detect whether the number of the stator silicon steel sheets 35 is the same as the target value, the pre-pressing assembly 3 comprises a pre-pressing base 10, a second four-column frame body is fixed on the pre-pressing base 10, a second lifting plate is slidably arranged on a guide column of the second four-column frame body, a pre-pressing oil cylinder 5 is arranged at the top of the second four-column frame body, the ejection end of the pre-pressing oil cylinder 5 is connected with the second lifting plate through a first pressure sensor 6, an upper pressing head 8 and a ranging sensor 7 are arranged at the bottom of the second lifting plate, and a measuring rod 9 positioned below the ranging sensor 7 is fixed at the top of the pre-pressing base 10. When the workpiece moves to the pre-pressing station, the pre-pressing oil cylinder 5 drives the upper pressing head 8 to press the stator silicon steel sheets 35, whether the number of the silicon steel sheets is consistent with a target value is judged through feedback values of the first pressure sensor 6 and the distance measuring sensor 7, and if the number of the silicon steel sheets is inconsistent with the target value, the number of the stator silicon steel sheets 35 can be increased or decreased at the station, so that the function of detecting whether the number of the stator silicon steel sheets is identical with the target value is completed.
The structure of the invention is as shown in fig. 1 and 6, in order to ensure welding precision and welding quality, the laser welding assembly 2 comprises a welding base 17, a rotating assembly (18) and a station moving assembly are arranged on the welding base 17, a station vision camera assembly and a station welding head are arranged on the station moving assembly, and an auxiliary rotating assembly is arranged on the table top of the rotating assembly (18). To increase efficiency, the station moving assemblies may be arranged in pairs of two groups. Specifically, as shown in the figure, a rotating assembly 18, a right station moving assembly 16 and a left station moving assembly 19 are installed on the welding base 17, a right station vision camera assembly 14 and a right station welding head 15 are installed on the right station moving assembly 16, a left station welding head 20 and a left station vision camera assembly 21 are installed on the left station moving assembly 19, an auxiliary rotating assembly is installed on the table top of the rotating assembly 18, the auxiliary rotating assembly comprises a first four-column frame plate installed on the table top of the rotating assembly 18, a pushing oil cylinder 11 is installed at the top of the first four-column frame plate, a first lifting plate is installed at the output end of the pushing oil cylinder 11 through a second pressure sensor 12, and a follow-up rotary pressing disc 13 is installed at the bottom of the lifting plate. When the stator silicon steel sheet 35 moves to the welding station, through pushing the oil cylinder 11, the second pressure sensor 12, the first four-column frame plate and the follow-up rotary pressing plate 13 press down the stator silicon steel sheet 35, so that whether the pressure value is qualified can be judged through the second pressure sensor 12, and then under the cooperation among the right station moving assembly 16, the right station visual camera assembly 14, the right station welding head 15, the left station moving assembly 19, the left station welding head 20 and the left station visual camera assembly 21, accurate welding can be performed after photographing the stator silicon steel sheet 35, and therefore, the welding precision and the welding quality can be guaranteed.
According to the structure of the invention, as shown in fig. 1 and 7, in order to realize automatic stripping, the stripping assembly 25 comprises a fixed plate 39 positioned at the top of a base 24 of a material moving platform, two groups of pressing plate assemblies 38 are arranged at the top of the fixed plate 39, each pressing plate assembly 38 comprises a pressing plate, a sliding column and an air cylinder, the sliding column penetrates through the fixed plate 39, the air cylinder is arranged below the fixed plate 39, the pressing plate is fixed to the ejection end of the air cylinder, four guide rods 42 are fixed at the bottom of the fixed plate 39, an oil cylinder mounting plate 43 is connected between the bottom ends of the four guide rods 42, an ejection oil cylinder 44 is arranged at the bottom end of the oil cylinder mounting plate 43, a movable plate 41 sleeved on the four guide rods 42 is fixed at the ejection end of the ejection oil cylinder 44, and an ejector rod 40 connected with the stripping plate 36 is fixed at the top of the movable plate 41. When the workpiece moves to the stripping station, the clamp plate assembly 38 compresses the tooling base 37 and ejects upwards through the ejection oil cylinder 44, so that the movable plate 41 drives the ejector rod 40 to eject upwards, and the ejector rod 40 drives the stripping plate 36 to eject the stator silicon steel sheet 35, thereby realizing the automatic stripping function.
The working principle of the embodiment is as follows:
the feeding is carried out through the feeding station 23 in a manner that the telescopic arm 27 on the feeding station 23 is in an extending state through manual or mechanical arm operation, so that the stator silicon steel sheet 35 is arranged on a tooling mandrel 34 of the clamp assembly 4 to be positioned, the servo module assembly 28 at the feeding station 23 is controlled through the conductive slip ring 26 to recycle the telescopic arm 27, meanwhile, the lifting cylinder 31 is started to lift up to drive a table body in the supporting assembly 33 to move upwards, the table body in the supporting assembly 33 can lift up the rotary platform 29 through a supporting column, a pulley and a damping assembly, the clamp assembly is separated from a locating pin on each station, then the rotary platform 29 is driven to rotate through the four-station cam divider 32, so that the clamp assembly 4 at the feeding station 23 is driven to move to the pre-pressing assembly 3, the conductive slip ring 26 controls the servo module assembly 28 to extend out of the telescopic arm 27, so that the clamp assembly 4 drives the stator silicon steel sheet 35 to move below the upper pressing head 8, then the pre-pressing oil cylinder 5 is started, the pre-pressing oil cylinder 5 drives the second lifting plate to press down through the first pressure sensor 6 until the upper pressing head 8 compacts the stator silicon steel sheet 35, the number of the stator silicon steel sheets 35 is judged to be consistent with a target value through the value obtained through the first pressure sensor 6 and the value obtained through the distance measuring sensor 7 and the measuring rod 9, if the number of the stator silicon steel sheets is inconsistent, the number of the stator silicon steel sheets can be increased or decreased at the station, after the pre-pressing process is finished, the telescopic arm 27 can be recovered, the workpiece is moved to the welding base 17 through the rotary material transferring assembly 22, the push oil cylinder 11 pushes the follow-up rotary pressing disc 13 to press the stator silicon steel sheet 35, the second pressure sensor 12 judges that the pressure value is consistent with a set value, then the left station vision camera component 21 and the right station vision camera component 14 take pictures of the vicinity of the weld joint starting point and the vicinity of the weld joint end point of the workpiece under the movement of the left station moving component 19 and the right station moving component 16 respectively, the length of the weld joint and the accurate weld joint starting point and end point are calculated through graphic processing, then the control system controls the left station moving component 19 and the right station moving component 16 to weld the left station welding head 20 and the right station welding head 15 according to the accurate weld joint starting point and the accurate weld end point position again, so that the problem that the end face of the workpiece generates a bump caused by the traditional over-welding of the weld joint position can be solved, after one weld joint is welded, the rotating component 18 drives the workpiece and the tool to rotate to the position of the next weld joint, the camera shooting calculation and the welding head are performed again to perform accurate welding until all welding seams are welded, so that the welding quality and efficiency can be effectively improved, after the welding process is finished, the rotating material moving assembly 22 drives a workpiece to move to the material removing assembly 25, the pressing plate assembly 38 is pressed down to tightly press the tool base 37, then the ejection cylinder 44 stretches out to jack up the movable plate 41 and the ejection rod 40, the ejection rod 40 penetrates through the inner portion of the tool base 37 to jack up the material removing plate 36, and accordingly the welded stator silicon steel sheet 35 is removed from the tool mandrel 34 to finish material removing, automatic material removing is finished, automatic and intelligent production can be achieved, welding quality and efficiency can be improved, and mass production can be achieved.
In the above process, the welding process is specifically described as follows:
s1, driving a motor stator silicon steel sheet to rotate to a welding station angle by a rotating assembly.
The motor stator silicon steel sheets are piled up, a plurality of vertical welding seam grooves are uniformly piled up on the periphery, for example, 6 welding seam grooves are arranged, and the angles of welding stations are respectively 0, 30 degrees, 60 degrees and the like.
S2, the station moving assembly drives the station welding head to move transversely so as to be opposite to the target welding seam of the motor stator silicon steel sheet.
The station moving assembly is driven by three shafts, and comprises transverse, longitudinal and vertical directions, and the station vision camera assembly is positioned right above the station welding head, so that the station welding head and the station vision camera are opposite to the welding seam in order to ensure photographing clarity.
S3, starting the station visual camera assembly, driving the station visual camera assembly to move up and down, shooting high-definition images near the starting point position and the end point position of the target weld joint, and calculating the length of the weld joint and the starting point and the end point position of the weld joint.
The station vision camera component can focus to the welding seam, in order to avoid the welding that the two ends of the welding seam generate convex points, the welding point positions need to be accurately positioned, and because the thickness of the single silicon steel sheet is thinner, the thickness is about 1mm, and the thickness is also less than 1mm, the starting point and the end point welding position of the station welding head need to be accurately controlled.
In the embodiment, when the difference between the y coordinate of the midpoint of the edge pixel curve and the y coordinate of the two endpoints of the edge pixel curve is close to 0, the position coordinate D1 of the station vision camera component under the coordinate system of the station moving component is recorded; and when the difference value between the y coordinate of the midpoint of the edge pixel curve and the y coordinates of the two endpoints of the edge pixel curve is close to 0, recording the position coordinates D2 of the station vision camera component under the coordinate system of the station moving component at the moment.
When the station vision camera component focuses to two ends of the welding line, namely the top surface edge of the top silicon steel sheet and the bottom edge of the bottom silicon steel sheet, the welding line is an arc groove, so that the arc groove is an edge pixel curve in a normal view, only when the station vision camera component is completely opposite to the top surface edge of the top silicon steel sheet and the bottom edge of the bottom silicon steel sheet, the edge pixel curve basically shoots to form a straight line, and the position can be determined by approaching 0 to the difference value between the y coordinate of the midpoint of the edge pixel curve and the y coordinate of two end points of the edge pixel curve. Because the salient points need to be avoided, the starting point and the end point of welding are respectively the contact position of the two silicon steel sheets at the top and the contact position of the two silicon steel sheets at the bottom, the calculated length DL=D2-D1-2D 0 of the welding seam is calculated, the starting point position of the welding seam is D1+d0-D, the end point position of the welding seam is D2-D0-D, wherein D0 is the thickness of the silicon steel sheets, and D is the distance between the station vision camera component and the station welding head.
S4, the station moving assembly drives the station welding head to move up and down, the station welding head moves from the welding start position to the welding end position of the target welding line to weld, and after the welding of the target welding line is finished, the rotating assembly drives the motor stator silicon steel sheet to rotate to the angle of the next welding station.
And controlling the station welding head to move up and down to weld according to the calculated starting point position and the calculated end point position, and further rotating to the angle of the next welding station to weld after welding of one welding seam is completed until all welding seams are welded.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A motor stator silicon steel sheet quadruplex position vision positioning laser welding device, its characterized in that: the four-station feeding platform (1) comprises a material moving platform base (24), a rotary material moving assembly (22), a feeding station (23) and a material removing assembly (25) are respectively arranged on the material moving platform base (24), the rotary material moving assembly (22) is positioned at the central position, and clamp assemblies (4) are respectively arranged at four ends of the rotary material moving assembly (22);
the laser welding assembly (2) comprises a welding base (17), a rotating assembly (18) and a station moving assembly are arranged on the welding base (17), a station vision camera assembly and a right station welding head are arranged on the station moving assembly, and an auxiliary rotating assembly is arranged on the table top of the rotating assembly (18).
2. The four-station vision positioning laser welding device for the silicon steel sheet of the motor stator according to claim 1 is characterized in that: the auxiliary rotating assembly comprises a table top, a first four-column frame plate is arranged on the table top of the rotating assembly (18), a pushing oil cylinder (11) is arranged at the top of the first four-column frame plate, a first lifting plate is arranged at the output end of the pushing oil cylinder (11) through a second pressure sensor (12), and a follow-up rotating pressure plate (13) is arranged at the bottom of the lifting plate.
3. The four-station vision positioning laser welding device for the silicon steel sheet of the motor stator according to claim 1 is characterized in that: the rotary material moving assembly (22) comprises a bottom plate (30) which is positioned in a material moving platform base (24) and is fixed, a transfer oil cylinder (31) is installed at the bottom of the bottom plate (30), a supporting component (33) is fixed at the top end of the transfer oil cylinder (31), a four-station cam divider (32) is installed on a platform of the supporting component (33), a rotary platform (29) which is attached to the supporting component (33) is fixed at the rotating end of the four-station cam divider (32), a conductive slip ring (26) which is positioned at the center and four servo module components (28) which are positioned around are installed on the rotary platform (29), and a telescopic arm (27) is installed on the servo module components (28), and the clamp component (4) is installed at the tail end of the telescopic arm (27).
4. The four-station vision positioning laser welding device for the silicon steel sheet of the motor stator according to claim 1 is characterized in that: the stripping assembly (25) comprises a fixing plate (39) which is arranged at the top of a material moving platform base (24), two groups of pressing plate assemblies (38) are arranged at the top of the fixing plate (39), four guide rods (42) are fixed at the bottom of the fixing plate (39), an oil cylinder mounting plate (43) is connected between the bottom ends of the four guide rods (42), an ejection oil cylinder (44) is arranged at the bottom end of the oil cylinder mounting plate (43), a movable plate (41) sleeved on the four guide rods (42) is fixed at the ejection end of the ejection oil cylinder (44), and a push rod (40) connected with the stripping plate (36) is fixed at the top of the movable plate (41).
5. The four-station vision positioning laser welding device for the silicon steel sheet of the motor stator according to claim 1 is characterized in that: the pre-compaction subassembly (3) is including pre-compaction base (10), be fixed with No. two four post support bodies on pre-compaction base (10), slidable mounting has No. two lifter plates on the guide post of No. two four post support bodies, pre-compaction hydro-cylinder (5) are installed at the top of No. two four post support bodies, and the ejecting end of pre-compaction hydro-cylinder (5) is connected with No. two lifter plates through a pressure sensor (6), and pressure head (8) and range sensor (7) are installed to the bottom of No. two lifter plates, the top of pre-compaction base (10) is fixed with measuring rod (9) that are located range sensor (7) below.
6. A motor stator silicon steel sheet quadruplex position vision positioning laser welding device according to claim 3, wherein: the telescopic arm (27) is provided with a circular positioning groove, the circular positioning groove is internally provided with a clamp assembly (4), the clamp assembly (4) comprises a tool base (37) arranged in the circular positioning groove of the telescopic arm (27), the tool base (37) is internally provided with a tool mandrel (34), and the outer side of the tool mandrel (34) is sleeved with a stripper plate (36).
7. A motor stator silicon steel sheet quadruplex position vision positioning laser welding device according to claim 3, wherein: the conductive slip ring (26) is located among the four servo module assemblies (28), the conductive slip ring (26) is electrically connected with the four servo module assemblies (28), the supporting assembly (33) comprises a supporting column provided with a damping assembly, and a pulley is arranged at the top of the damping assembly.
8. The four-station vision positioning laser welding device for the silicon steel sheet of the motor stator according to claim 4 is characterized in that: the platen assembly (38) includes a platen, a spool passing through a fixed plate (39), and an air cylinder mounted below the fixed plate (39) and secured to an ejector end of the air cylinder.
9. A method of visually positioned laser welding, characterized in that the method is implemented on the basis of a laser welding apparatus according to any one of claims 1-8, the method comprising the steps of:
the rotating assembly drives the motor stator silicon steel sheet to rotate to the welding station angle;
the station moving assembly drives the station welding head to move transversely so as to be opposite to a target welding seam of the motor stator silicon steel sheet;
starting a station visual camera assembly, driving the station visual camera assembly to move up and down, shooting high-definition images near the starting point position and the end point position of a target welding line, and calculating the length of the welding line and the starting point and the end point position of the welding line;
the station moving assembly drives the station welding head to move up and down, the station welding head moves from the welding start position to the welding end position of the target welding line to weld, and after the welding of the target welding line is finished, the rotating assembly drives the motor stator silicon steel sheet to rotate to the angle of the next welding station.
10. The vision positioning laser welding method of claim 9, wherein the process of calculating the weld length and the start and end positions of the weld is as follows:
the station vision camera component moves from top to bottom, when the station vision camera component is near the starting point position of a target welding line, an edge pixel curve of the target welding line position of the top silicon steel sheet is recognized in real time, and when the difference value between the y coordinate of the midpoint of the edge pixel curve and the y coordinate of two endpoints of the edge pixel curve is close to 0, the position coordinate D1 of the station vision camera component under the coordinate system of the station movement component at the moment is recorded; when the difference value between the y coordinate of the midpoint of the edge pixel curve and the y coordinates of the two endpoints of the edge pixel curve is close to 0, recording the position coordinate D2 of the station vision camera component under the coordinate system of the station moving component at the moment;
and calculating the length DL=D2-D1-2D 0 of the welding seam, wherein D0 is the thickness of the silicon steel sheet, the starting point position of the welding seam is D1+d0-D, and the end point position of the welding seam is D2-D0-D.
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| CN202310553622.6A CN116275510B (en) | 2023-05-17 | 2023-05-17 | Four-station vision positioning laser welding device and method for silicon steel sheets of motor stator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116833599A (en) * | 2023-08-31 | 2023-10-03 | 武汉创恒激光智能装备有限公司 | Three-station laser automatic welding platform for motor stator silicon steel sheet |
| CN117680855A (en) * | 2023-11-28 | 2024-03-12 | 苏州思萃熔接技术研究所有限公司 | Laser welding device and laser welding method |
| CN117733334A (en) * | 2024-01-08 | 2024-03-22 | 无锡达灵汽车电器有限公司 | Stator welding device for automobile motor production |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116833599A (en) * | 2023-08-31 | 2023-10-03 | 武汉创恒激光智能装备有限公司 | Three-station laser automatic welding platform for motor stator silicon steel sheet |
| CN116833599B (en) * | 2023-08-31 | 2023-12-22 | 武汉创恒激光智能装备有限公司 | Three-station laser automatic welding platform for motor stator silicon steel sheet |
| CN117680855A (en) * | 2023-11-28 | 2024-03-12 | 苏州思萃熔接技术研究所有限公司 | Laser welding device and laser welding method |
| CN117680855B (en) * | 2023-11-28 | 2024-06-04 | 苏州思萃熔接技术研究所有限公司 | Laser welding device and laser welding method |
| CN117733334A (en) * | 2024-01-08 | 2024-03-22 | 无锡达灵汽车电器有限公司 | Stator welding device for automobile motor production |
| CN117733334B (en) * | 2024-01-08 | 2024-06-04 | 无锡达灵汽车电器有限公司 | Stator welding device for automobile motor production |
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