CN116713655B - Automatic welding workstation of welding seam is known - Google Patents
Automatic welding workstation of welding seam is known Download PDFInfo
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- CN116713655B CN116713655B CN202310989460.0A CN202310989460A CN116713655B CN 116713655 B CN116713655 B CN 116713655B CN 202310989460 A CN202310989460 A CN 202310989460A CN 116713655 B CN116713655 B CN 116713655B
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- 238000003466 welding Methods 0.000 title claims abstract description 175
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000004140 cleaning Methods 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 claims 1
- 238000000605 extraction Methods 0.000 abstract description 4
- 238000001914 filtration Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/08—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a welding workstation capable of automatically recognizing welding seams, which comprises a positioner, wherein a rotating seat is arranged on one side of the positioner, a movable seat is arranged on the rotating seat, a clamping assembly is arranged on the movable seat, a workpiece is arranged on the clamping assembly, a fixed seat is arranged on one side of the workpiece far away from the positioner, a robot is arranged on the fixed seat, a welding gun is arranged on one side of the robot far away from the fixed seat, and a welding seam recognition mechanism is arranged on the welding gun; the weld tracker completes filtering processing, information extraction and feature analysis of the acquired image so as to accurately obtain a specific deviation value; the robot body and the control cabinet can determine the deviation correcting control quantity of the motor through an algorithm according to the deviation value obtained by combining the welding seam tracker with the ideal position of the welding seam, and forward/reverse rotation control and rotation speed control of the motor are realized, so that deviation correcting is completed.
Description
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a welding workstation capable of automatically recognizing welding seams.
Background
Welding is an important process, and is widely applied to the fields of aerospace, shipbuilding, construction and the like, and along with the development of economy and society, the requirements of related industries on the welding process are higher and higher, such as quality, efficiency and the like. In recent years, welding robots are used more in industrial production, and welding production conditions are greatly improved. The current working mode of most welding robots is 'teaching reproduction', and the basic flow is as follows: before welding starts, the welding seam tracking of the robot is needed to be realized through manual control, and the welding seam track is recorded at the same time, in the actual welding process, the robot can finish repeated welding according to the recorded track, the requirement of the working mode on positioning and the shape of a weldment is very high, and if deviation exists between the working mode and a teaching result, the welding quality is reduced, and even welding failure is possibly caused; the existing small-part resolving method is that a welding seam tracker is arranged on a welding gun, the welding state is judged by monitoring the state of the welding seam in real time, and the welding state is corrected in time after deviation occurs, but the capability of the welding seam tracker for acquiring images is limited, because the welding gun cannot move along one direction only in the process of welding most workpieces, the posture of the welding gun nozzle is always required to be continuously adjusted, the welding nozzle is inclined towards the moving side of the welding gun, the frequently-moved welding gun causes inconsistent image angles acquired by an image acquisition device, and the recognition accuracy of the welding seam is reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a welding workstation capable of automatically recognizing welding seams.
The technical scheme adopted by the invention is as follows:
the welding workstation capable of automatically recognizing the welding seam comprises a positioner, wherein a rotating seat is arranged on one side of the positioner, a movable seat is arranged on the rotating seat, a clamping assembly is arranged on the movable seat, a workpiece is mounted on the clamping assembly, a fixed seat is arranged on one side, away from the positioner, of the workpiece, a robot is arranged on the fixed seat, a welding gun is arranged on one side, away from the fixed seat, of the robot, and a welding seam recognition mechanism is arranged on the welding gun; the welding seam identification mechanism comprises a fixing buckle, the fixing buckle is fixedly connected with the welding gun, one side of the robot is detachably mounted on a fixing plate, a mounting plate is fixedly arranged on one side of the fixing plate, a connecting plate is fixedly arranged on one side, away from the fixing seat, of the mounting plate, and a welding seam tracker is detachably mounted on the connecting plate.
In the invention, preferably, an alignment plate is fixedly arranged on one side of the connecting plate, a welding nozzle is arranged on one side of the welding gun away from the robot, the alignment plate is positioned on one side of the welding nozzle, and the alignment plate is parallel to the welding gun.
As the preferable mode of the invention, the cross section of the fixed plate is L-shaped, the fixed plate is fixedly provided with a mounting column, the mounting column is detachably provided with a mounting sleeve, the mounting sleeve is fixedly arranged on a rotating ring, the rotating ring is rotatably arranged on the fixed ring, and the fixed buckle is detachably arranged on the fixed plate.
As the preferable mode of the invention, the cross section of the welding gun is circular, the outline of the fixing ring is cylindrical, the projection of the fixing ring on any cross section of the welding gun is circular, and the circle center of the projection of the fixing ring on the cross section of the welding gun is coincident with the axis of the welding gun; the rotating ring is coaxial with the fixed ring.
As the preferable mode of the invention, two mounting posts are respectively positioned on two adjacent sides of the fixing plate which are ninety degrees, and two mounting sleeves are fixedly arranged on the rotating ring and respectively correspond to the two mounting posts.
As the preferable mode of the invention, a placement space is arranged in the fixing ring, the fixing buckle is positioned in the placement space, the fixing buckle comprises a first buckle and a second buckle, a threaded hole is arranged on the first buckle, a through hole is arranged on the second buckle, a fastening bolt is connected to the first buckle in a threaded manner, the fastening bolt penetrates through the second buckle, a sliding groove is fixedly arranged on the inner wall of the placement space, and the first buckle and the second buckle are respectively connected with the sliding groove in a sliding manner.
Preferably, the fixing ring is provided with a plurality of bolt holes on the circumference side, the bolt holes penetrate through the installation space, and the bolt holes are matched with the fastening bolts.
Preferably, the circumference of the fixed ring is fixedly provided with an annular rail, the rotating ring is rotatably arranged in the annular rail, one side of the fixed ring is fixedly provided with a micro-control motor, an output shaft of the micro-control motor is fixedly provided with a driving gear, the inner side of the rotating ring is provided with a circle of teeth, and the driving gear is meshed with the teeth on the rotating ring.
Preferably, the first fastener and the second fastener are respectively provided with a centering spring, one ends of the two centering springs, which are far away from each other, are respectively fixedly connected with the inner wall of the placement space, and one ends of the two centering springs, which are close to each other, are respectively fixedly connected with the first fastener and the second fastener.
Preferably, the gun cleaning device comprises a gun cleaning station, wherein the gun cleaning station is positioned on one side of the robot.
The beneficial effects of the invention are as follows: the welding station is used as a welding workstation for automatically recognizing welding seams, and a welding seam tracker finishes filtering processing, information extraction and feature analysis of acquired images so as to accurately obtain specific deviation values; the robot body and the control cabinet can determine the deviation correction control quantity of the motor through an algorithm according to the deviation value obtained by combining the welding seam tracker with the ideal position of the welding seam, and realize the forward/reverse rotation control and the rotating speed control of the motor, so that the deviation correction is completed; the micro-control motor is programmed, so that the weld tracker can follow the back of the welding gun, namely the position of the weld immediately after welding, the image angle collected by the weld tracker is ensured to be consistent all the time, the comparison and analysis of the weld deviation are convenient, and the correction is performed in time; the fixing buckle is under the action of the centering spring, and the fixing buckle is in a state of not affecting the coaxial line of the welding gun and the fixing ring before and after the welding gun is fastened, so that the distance between the welding seam tracker and the welding gun is always the same when the welding seam tracker revolves relative to the welding gun, and the accuracy of acquiring images and identifying welding seams by the welding seam tracker is further improved.
Drawings
The invention will be described in further detail with reference to the accompanying drawings and detailed description.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the weld seam identification mechanism of FIG. 1 according to the present invention;
FIG. 3 is a schematic diagram of another embodiment of the present invention of FIG. 2;
FIG. 4 is a schematic elevational view of the present invention of FIG. 3;
FIG. 5 is a schematic top view of the structure of FIG. 3 of the present invention;
FIG. 6 is a schematic view of the retainer ring of FIG. 3 in accordance with the present invention;
FIG. 7 is a schematic elevational view of the present invention of FIG. 6;
FIG. 8 is a schematic view of the A-A direction structure of FIG. 7 in accordance with the present invention;
fig. 9 is a schematic view of the structure of the fixing plate of fig. 3 according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
1-9, a welding workstation capable of automatically recognizing welding seams comprises a positioner 11, wherein a rotating seat 12 is arranged on one side of the positioner 11, a movable seat 13 is arranged on the rotating seat 12, a clamping assembly 17 is arranged on the movable seat 13, a workpiece 20 is arranged on the clamping assembly 17, a fixed seat 14 is arranged on one side, far away from the positioner 11, of the workpiece 20, a robot 16 is arranged on the fixed seat 14, a welding gun 18 is arranged on one side, far away from the fixed seat 14, of the robot 16, and a welding seam recognition mechanism 21 is arranged on the welding gun 18; the welding seam recognition mechanism 21 comprises a fixing buckle 26, the machine fixing buckle 26 is fixedly connected with the welding gun 18, one side of the robot 16 is detachably mounted on a fixing plate 25, a mounting plate 24 is fixedly arranged on one side of the fixing plate 25, a connecting plate 23 is fixedly arranged on one side, away from the fixing seat 14, of the mounting plate 24, and a welding seam tracker 22 is detachably mounted on the connecting plate 23. The weld tracker 22 mainly completes filtering processing, information extraction and feature analysis of the acquired image so as to accurately obtain a specific deviation value; the robot 16 body and the control cabinet can determine the deviation correction control quantity of the motor through an algorithm according to the deviation value obtained by combining the weld seam tracker with the ideal position of the weld seam, and forward/reverse rotation control and rotation speed control of the motor of the robot 16 are realized, so that deviation correction is completed.
Advantageously, an alignment plate 27 is fixedly arranged on one side of the connecting plate 23, a welding nozzle 19 is arranged on the side of the welding gun 18 away from the robot 16, the alignment plate 27 is positioned on one side of the welding nozzle 19, and the alignment plate 27 is parallel to the welding gun 18. The alignment plate 27 not only can provide a certain protection for the weld tracker 22, but also is convenient for adjusting the initial position for installing the weld tracker 22, and meanwhile, the alignment plate 27 can enable the image acquired by the weld tracker 22 to be more accurate.
Advantageously, the cross section of the fixing plate 25 is L-shaped, the fixing plate 25 is fixedly provided with a mounting post 30, the mounting post 30 is detachably provided with a mounting sleeve 31, the mounting sleeve 31 is fixedly arranged on the rotating ring 29, the rotating ring 29 is rotatably arranged on the fixing ring 28, and the fixing buckle 26 is detachably arranged on the fixing plate 25.
Advantageously, the cross section of the welding gun 18 is circular, the outline of the fixing ring 28 is cylindrical, the projection of the fixing ring 28 on any cross section of the welding gun 18 is circular, and the center of the projection of the fixing ring 28 on the cross section of the welding gun 18 coincides with the axis of the welding gun 18; the rotating ring 29 is coaxial with the fixed ring 28. The freedom degree exists between the fixing buckle 26 and the fixing plate 25, so that the position of the welding seam tracker 22 relative to the welding gun 18 can be conveniently adjusted at any time in the welding process, the welding gun 18 can deflect wherever possible, and the welding seam tracker 22 can be kept at the position just after the welding seam is welded no matter what path is moved.
Advantageously, two mounting posts 30 are disposed on two adjacent sides of the fixing plate 25 at ninety degrees, and two mounting sleeves 31 are fixedly disposed on the rotating ring 29, and the two mounting sleeves 31 correspond to the two mounting posts 30, respectively. Both sides of the fixing plate 25 are provided with mounting sleeves 31, and in this structure, once the fixing plate 25 and the rotating ring 29 are mounted at the same position, the rotating ring 29 rotates to drive the fixing plate 25 to rotate together.
Advantageously, a space is provided in the fixing ring 28, the fixing buckle 26 is located in the space, the fixing buckle 26 includes a first fastener 38 and a second fastener 39, a threaded hole is provided on the first fastener 38, a through hole is provided on the second fastener 39, a fastening bolt 37 is connected to the first fastener 38 in a threaded manner, the fastening bolt 37 penetrates through the second fastener 39, a sliding groove 34 is fixedly provided on an inner wall of the space, and the first fastener 38 and the second fastener 39 are respectively connected with the sliding groove 34 in a sliding manner. The fastening bolt 37 is threadedly coupled to the first fastener member 38, the fastening bolt 37 is rotatably coupled to the second fastener member 39, and rotation of the fastening bolt 37 causes the nut portion thereof to approach or force the first fastener member 37, thereby forcing the first fastener member 38 toward or away from the second fastener member 39.
Advantageously, a plurality of bolt holes 35 are provided on the circumferential side of the retainer ring 28, the bolt holes 35 penetrating through the installation space, the bolt holes 35 being adapted to the fastening bolts 37. The fastening bolt 37 is unscrewed from the bolt hole 35, but not completely removed from the first fastener 38, and the entire weld recognition mechanism 21 can be removed from the side of the welding tip 19 of the welding gun 18, facilitating replacement, maintenance, and the like.
Advantageously, the circumferential side of the fixed ring 28 is fixedly provided with an annular rail 36, the rotating ring 29 is rotatably disposed in the annular rail 36, one side of the fixed ring 28 is fixedly provided with a micro-control motor 32, an output shaft of the micro-control motor 32 is fixedly provided with a driving gear 40, the inner side of the rotating ring 29 is provided with a circle of teeth, and the driving gear 40 is meshed with the teeth on the rotating ring 29. One of the sections of the annular rail 36 has a notch in which a drive gear 40 is located and drives the rotating ring 29.
Advantageously, the first fastening member 38 and the second fastening member 39 are respectively provided with a centering spring 33, ends of the two centering springs 33 far away from each other are respectively fixedly connected with the inner wall of the installation space, and ends of the two centering springs 33 near to each other are respectively fixedly connected with the first fastening member 38 and the second fastening member 39.
Advantageously, a gun cleaning station 15 is included, said gun cleaning station 15 being located on one side of said robot 16.
The working principle of the invention is as follows:
in the initial state, the workpiece 20 is clamped on the clamping assembly 17;
before welding, teaching of a welding robot is required to be completed, and then the system automatically or acquires teaching point information comprising the center, the width and the like of a welding seam and stores the teaching point information; in the welding process, the weld tracker 22 periodically detects the position of the weld, analyzes the information such as the width and the center position of the weld according to the image information, compares the measurement result with the teaching path, and needs to adjust the pose of the welding gun once the deviation threshold value is exceeded.
By rotating the seat 12 and the moving seat 13, the posture of the workpiece 20 relative to the positioner 11 can be easily changed, so that the part to be welded can be aligned with the end effector of the robot 16, and the angle between the part to be welded of the workpiece 20 and the welding nozzle 19 accords with a set value; specifically, the motor drives the rotating seat 12 to rotate relative to the positioner 11, a supporting plate is fixedly arranged on one side, far away from the positioner 11, of the rotating seat 12, an electric control cross sliding table is arranged on the supporting plate, a clamping assembly 17 is arranged on a sliding block of the cross sliding table, and a workpiece 20 is clamped through the clamping assembly 17;
the gun cleaning station 15 can clean foreign matters on the welding gun 18 and prolong the service life of the welding gun 18; specifically, when the welding gun 18 is used or foreign matters are detected on the welding nozzle 19 in the using process, the robot 16 controls the welding nozzle 19 to move to the gun cleaning station 15 to clean the welding nozzle, and a proper cleaning mode, such as high-pressure gas, is selected according to the material of the welding material.
The robot 16, specifically, a six-degree-of-freedom welding robot, has a welding gun 18 mounted on an end effector thereof and is provided with a wire supply box for supplying welding materials to the welding gun 18, and a welding power supply of the robot can supply high-voltage current to the welding gun 18, and after the welding materials are melted, the welding tip 19 is controlled to move by programming to finish the task of welding workpieces 20.
In the above process, the position changer 11 controls the gesture of the workpiece 20, and the robot 16 controls the gesture of the welding gun 18 to plan a path in advance through programming, the welding seam recognition mechanism 21 mainly completes the filtering process, information extraction and feature analysis of the acquired image so as to accurately obtain a specific deviation value and feed the specific deviation value back to the control cabinet, and the robot 16 and the control cabinet can determine the deviation correction control quantity of the motor through an algorithm according to the ideal position of the welding seam and the deviation value obtained by combining the welding gun 18, so that the forward/reverse rotation control and the rotation speed control of the motor are realized, and the deviation correction is completed;
specifically, the weld recognition mechanism 21 controls the position of the weld tracker 22 relative to the welding gun 18 by the micro-control motor 32 when the posture of the welding gun 18 is changed; the specific micro-control motor 32 is started to control the driving gear 40 to rotate, the driving gear 40 drives the rotating ring 29 to rotate through meshing, under the action of the mounting sleeve 31 and the mounting post 30, the fixing plate 25, the mounting plate 24, the connecting plate 23 and the weld tracker 22 rotate along with the rotating ring 29, so that the position of the weld tracker 22 relative to the fixing buckle 26 is changed, and the fixing buckle 26 is completely fixed with the welding gun 18 through the fastening bolt 37;
when the welding gun 18 moves along the surface of the workpiece 20, the micro-control motor 32 is used for controlling the welding seam tracker 22 to be always positioned at the downstream of the movement track of the welding gun 18, so that the image acquired by the welding seam tracker 22 is more accurate, no matter the welding gun 18 moves leftwards, rightwards or upwards and downwards along the surface of the workpiece 20, the welding nozzle 19 and the surface of the workpiece 20 can have an included angle of forty-five degrees by programming the robot 16, and meanwhile, the micro-control motor 32 is programmed, so that the welding seam tracker 22 is positioned behind the welding gun 18 just after welding of a welding seam, the image angle acquired by the welding seam tracker 22 is always consistent, comparison and analysis of welding seam deviation are facilitated, and correction is timely carried out.
In particular, when the welding seam identifying mechanism 21 is connected to the welding gun 18, the alignment plate 27 is screwed down, the first fastener 38 and the second fastener 39 clamp the welding gun 18, in the process, the nut portion of the fastening bolt 37 contacts with the second fastener 39 to force the distance between the first fastener 38 and the second fastener 39 to be shortened, the first fastener 38 and the second fastener 39 slide along the sliding groove 34 by the same and opposite certain distances respectively under the action of the centering spring 33, the state that the coaxial line between the welding gun 18 and the fixing ring 28 is not influenced by the fastening of the fixing buckle 26 to the welding gun 18, and the fact that the distance between the welding seam tracker 22 and the welding gun 18 is always the same when the welding seam tracker 22 revolves relative to the welding gun 18 is ensured.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art can be made to the described embodiments without departing from the scope of the invention or from the scope of the invention as defined in the accompanying claims.
Claims (8)
1. A welding workstation for automatically recognizing a weld, characterized in that: the welding machine comprises a positioner, wherein a rotating seat is arranged on one side of the positioner, a movable seat is arranged on the rotating seat, a clamping assembly is arranged on the movable seat, a workpiece is arranged on the clamping assembly, a fixed seat is arranged on one side of the workpiece, which is far away from the positioner, a robot is arranged on the fixed seat, a welding gun is arranged on one side of the robot, which is far away from the fixed seat, and a welding seam identification mechanism is arranged on the welding gun; the welding seam identification mechanism comprises a fixing buckle, the fixing buckle is fixedly connected with the welding gun, one side of the robot is detachably arranged on a fixing plate, a mounting plate is fixedly arranged on one side of the fixing plate, a connecting plate is fixedly arranged on one side, away from the fixing seat, of the mounting plate, and a welding seam tracker is detachably arranged on the connecting plate;
the fixing ring is internally provided with a placement space, the fixing buckle is positioned in the placement space, the fixing buckle comprises a first buckle and a second buckle, a threaded hole is formed in the first buckle, a through hole is formed in the second buckle, a fastening bolt is connected to the first buckle through threads, the fastening bolt penetrates through the second buckle, a sliding groove is fixedly formed in the inner wall of the placement space, and the first buckle and the second buckle are respectively connected with the sliding groove in a sliding manner;
the periphery of the fixed ring is fixedly provided with an annular rail, the rotating ring is rotatably arranged in the annular rail, one side of the fixed ring is fixedly provided with a micro-control motor, the output shaft of the micro-control motor is fixedly provided with a driving gear, the inner side of the rotating ring is provided with a circle of teeth, and the driving gear is meshed with the teeth on the rotating ring;
when the welding gun moves along the surface of the workpiece, the micro-control motor is used for controlling the welding seam tracker to be always positioned at the downstream of the movement track of the welding gun, so that the angles of images collected by the welding seam tracker are always consistent, the welding seam deviation is convenient to compare and analyze, and correction is timely carried out.
2. The welding station for automatically recognizing welds according to claim 1, wherein: an alignment plate is fixedly arranged on one side of the connecting plate, a welding nozzle is arranged on one side of the welding gun away from the robot, the alignment plate is positioned on one side of the welding nozzle, and the alignment plate is parallel to the welding gun.
3. The welding station for automatically recognizing welds according to claim 1, wherein: the cross section of fixed plate is L type, the fixed erection column that is equipped with on the fixed plate, demountable installation has the installation cover on the erection column, the installation cover is fixed to be set up on the swivel becket, the swivel becket rotates to set up on the fixed ring, fixed knot demountable installation is in on the fixed plate.
4. A welding station for automatically recognizing welds according to claim 3 wherein: the cross section of the welding gun is circular, the outline of the fixing ring is cylindrical, the projection of the fixing ring on any cross section of the welding gun is circular, and the circle center of the projection of the fixing ring on the cross section of the welding gun coincides with the axis of the welding gun; the rotating ring is coaxial with the fixed ring.
5. A welding station for automatically recognizing welds according to claim 3 wherein: the two mounting posts are respectively located on two adjacent sides of the fixing plate, which are ninety degrees away from each other, and the two mounting sleeves are fixedly arranged on the rotating ring and correspond to the two mounting posts respectively.
6. The welding station for automatically recognizing welds according to claim 1, wherein: the periphery side of retainer plate is equipped with a plurality of bolt holes, the bolt hole runs through the settling space, the bolt hole with fastening bolt looks adaptation.
7. The welding station for automatically recognizing welds according to claim 1, wherein: the first fastener and the second fastener are respectively provided with a centering spring, one ends, far away from each other, of the centering springs are respectively fixedly connected with the inner wall of the placement space, and one ends, close to each other, of the centering springs are respectively fixedly connected with the first fastener and the second fastener.
8. The welding station for automatically recognizing welds according to claim 1, wherein: the gun cleaning device comprises a gun cleaning station, wherein the gun cleaning station is positioned on one side of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310989460.0A CN116713655B (en) | 2023-08-08 | 2023-08-08 | Automatic welding workstation of welding seam is known |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310989460.0A CN116713655B (en) | 2023-08-08 | 2023-08-08 | Automatic welding workstation of welding seam is known |
Publications (2)
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|---|---|
| CN116713655A (en) | 2023-09-08 |
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