CN204524618U - A kind of automatic recognition and tracking welder of weld seam applying laser scanner - Google Patents
A kind of automatic recognition and tracking welder of weld seam applying laser scanner Download PDFInfo
- Publication number
- CN204524618U CN204524618U CN201520056679.6U CN201520056679U CN204524618U CN 204524618 U CN204524618 U CN 204524618U CN 201520056679 U CN201520056679 U CN 201520056679U CN 204524618 U CN204524618 U CN 204524618U
- Authority
- CN
- China
- Prior art keywords
- welding
- laser scanner
- weld seam
- welding gun
- automatic recognition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a kind of automatic recognition and tracking welder of weld seam applying laser scanner, and comprise industrial computer and connected laser scanner, digital welding power source, welding robot human body, welding robot human body is connected with welding gun support; Parallel fixed laser scanner and welding gun on welding gun support.Relative to prior art, the utility model can avoid the artificial teaching in weld seam welding process, has not only liberated the physical mental labour of workman, and has improve weld seam welding quality; Namely welding gun not only with weld seam left-right and front-back movement automatically in X-axis, Y-axis, with its movement automatically up and down on Z axis, can also can be suitable for the welding of any track weld seam; Relatively general laser vision sensor, adopt laser scanner to make strong interference immunity in welding process, and scanning angle is large, scan frequency is high, structure is simple and cheap; The utility model structure is simple, be convenient to application.
Description
Technical field
The utility model relates to field of automatic welding, is specifically related to a kind of automatic recognition and tracking welder avoiding teaching, can control welding process in real time.
Background technology
Welding is a kind of processing method applied in manufacturing industry widely, along with the continuous progress of science and technology, mechanization, automation, intelligent general gradually in the application of industrial circle.The development of appearance to welding field of welding robot and special welding machine serves huge impetus, has not only liberated the labour of workman, has more improve labor productivity and social productive forces.
No matter be general or intelligentized robot in the market, mostly need teach programming in advance to work on request, although liberated the labour of workman like this, too increase the technical merit requirement to workman simultaneously.In addition, due to assembly precision and its static stress and distortion caused because of overheated in welding engineering of workpiece, welding track will change, and only teaching can not address these problems.
Utility model content
The technical problems to be solved in the utility model is without the need to by manual operation or teaching pattern, realizes carrying out weld seam in correct position and automatically identifies that real-time online follows the tracks of welding, improve welding quality.For solving the problem, the utility model provides a kind of automatic recognition and tracking welder of weld seam applying laser scanner.
The purpose of this utility model realizes in the following manner:
Apply the automatic recognition and tracking welder of weld seam of laser scanner, comprise industrial computer and connected laser scanner, digital welding power source, welding robot human body, described welding robot human body is connected with welding gun support; Parallel fixed laser scanner and welding gun on described welding gun support.
Welding gun support arranges through hole, and welding gun passes through hole and is bolted on welding gun support.
Welding gun support is provided with flange, and welding robot human body and welding gun support pass through Flange joint.
Between laser scanner and welding gun support, baffle plate is installed.
Laser scanner is positioned at the top of welding gun.
Relative to prior art, the utility model can avoid the artificial teaching in weld seam welding process, has not only liberated the physical mental labour of workman, and has improve weld seam welding quality; Namely welding gun not only with weld seam left-right and front-back movement automatically in X-axis, Y-axis, with its movement automatically up and down on Z axis, can also can be suitable for the welding of any track weld seam; Relatively general laser vision sensor, adopt laser scanner make strong interference immunity in welding process, and scanning angle is large, scan frequency is high, structure is simple, cheap; The utility model structure is simple, be convenient to application.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the welding gun support installing baffle plate additional of the present utility model.
Fig. 3 is operation principle block diagram of the present utility model.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
A kind of automatic recognition and tracking welder of weld seam applying laser scanner of the present embodiment, comprise industrial computer and connected laser scanner 1, digital welding power source, welding robot human body 2, digital welding power source is used for the welding wire of molten solder, and welding robot human body 2 is connected with welding gun support 3 by the flange 4 be arranged on welding gun support 3; Welding gun support 3 also arranges through hole 7, and welding gun passes through hole 7 and is bolted on welding gun support 3; Laser scanner 1 is secured by bolts on welding gun support 3, parallel with welding gun 5, and laser scanner 1 is positioned at the top of welding gun 5.For the information extraction preventing the flying chip produced in welding process from affecting laser scanner 1, be welded between laser scanner 1 and welding gun support 3 baffle plate 6.
Operation principle of the present utility model:
Laser scanner 1 sends laser pulse ripple by generating laser, and after laser wave encounters object, portion of energy returns, and laser pickoff receives return laser light ripple, and when the energy of close echo is enough to trigger threshold value, laser scanner 1 calculates the distance that it arrives object; The continuous ceaselessly Emission Lasers impulse wave of laser scanner 1, laser pulse ripple is beaten on the minute surface of High Rotation Speed, launches laser pulse to all directions, thus forms the scanning of a 2 dimensional region.The function in this region is in the sweep limits of scanner, and scanner exports the distance of each measurement point, and according to this range information, can calculate the appearance profile of weld seam, coordinate setting etc., this is the general principle of existing laser scanner.The laser vision sensor strong interference immunity that laser scanner is relatively general, and scanning angle is large, scan frequency is high, structure is simple, cheap.
Laser scanner 1 passes to industrial computer after being arranged by the weld information collected, and after industrial computer process, drive welding robot human body 2 to drive welding gun 5, the change with weld seam changes welding direction, and real-time online butt welded seam carries out tracking welding.
Laser scanner 1, by distance measurement function, can reflect the change of weld seam in (Z axis) direction generation up and down, and this information is passed to industrial computer, and then drive welding gun 5 to move up and down.So far this device can complete the automatic adjustment of X, Y, Z tri-in direction of principal axis and Z axis rotation direction.
Welding robot human body 2 drive welding gun 5 weld before without teaching, workman only need arrange initial parameter and move to above weld seam by welding gun 5, and welding robot human body 2 just can carry out weld seam welding.
The element that the utility model device uses is all existing products, and technical staff carries out components and parts connection according to the scheme that the utility model proposes, and structure is simple, is convenient to application.
Claims (5)
1. apply the automatic recognition and tracking welder of weld seam of laser scanner, it is characterized in that: comprise industrial computer and connected laser scanner, digital welding power source, welding robot human body, described welding robot human body is connected with welding gun support; Parallel fixed laser scanner and welding gun on described welding gun support.
2. the automatic recognition and tracking welder of the weld seam of application laser scanner according to claim 1, is characterized in that: welding gun support arranges through hole, and welding gun passes through hole and is bolted on welding gun support.
3. the automatic recognition and tracking welder of the weld seam of application laser scanner according to claim 1, is characterized in that: welding gun support is provided with flange, and welding robot human body and welding gun support pass through Flange joint.
4. the automatic recognition and tracking welder of the weld seam of application laser scanner according to claim 1, is characterized in that: install baffle plate between laser scanner and welding gun support.
5. the automatic recognition and tracking welder of the weld seam of application laser scanner according to claim 1, is characterized in that: laser scanner is positioned at the top of welding gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520056679.6U CN204524618U (en) | 2015-01-28 | 2015-01-28 | A kind of automatic recognition and tracking welder of weld seam applying laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520056679.6U CN204524618U (en) | 2015-01-28 | 2015-01-28 | A kind of automatic recognition and tracking welder of weld seam applying laser scanner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204524618U true CN204524618U (en) | 2015-08-05 |
Family
ID=53738671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520056679.6U Active CN204524618U (en) | 2015-01-28 | 2015-01-28 | A kind of automatic recognition and tracking welder of weld seam applying laser scanner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204524618U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562973A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers |
| CN105643158A (en) * | 2016-03-22 | 2016-06-08 | 哈尔滨工业大学 | Self-adaptive laser scanning device for welding seam and control method |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN106624509A (en) * | 2016-11-28 | 2017-05-10 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN107350624A (en) * | 2017-09-04 | 2017-11-17 | 南京理工大学 | A kind of robotic laser arc composite heat source welding system for carrying weld seam recognition |
| CN107378246A (en) * | 2016-05-16 | 2017-11-24 | 大族激光科技产业集团股份有限公司 | A kind of method and system for correcting laser welding track |
| CN108788394A (en) * | 2018-05-22 | 2018-11-13 | 江苏理工学院 | A kind of laser scanning weld tracker and its tracking |
| CN110605716A (en) * | 2019-09-18 | 2019-12-24 | 成都钧诺威视智能科技有限公司 | Automatic weld joint identification and tracking method and automatic welding system |
| CN111482696A (en) * | 2020-04-22 | 2020-08-04 | 上海电气集团自动化工程有限公司 | Welding seam tracking and height measuring system of friction stir welding robot |
-
2015
- 2015-01-28 CN CN201520056679.6U patent/CN204524618U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562973A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers |
| CN105562973B (en) * | 2016-02-29 | 2017-08-25 | 华南理工大学 | A kind of laser identification axle robot space curve welding system of weld seam 8 and method |
| CN105643158A (en) * | 2016-03-22 | 2016-06-08 | 哈尔滨工业大学 | Self-adaptive laser scanning device for welding seam and control method |
| CN107378246A (en) * | 2016-05-16 | 2017-11-24 | 大族激光科技产业集团股份有限公司 | A kind of method and system for correcting laser welding track |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN106624509A (en) * | 2016-11-28 | 2017-05-10 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN106624509B (en) * | 2016-11-28 | 2019-05-21 | 苏州五圣通机器人自动化有限公司 | A kind of high precision machines people automatic soldering device and its working method |
| CN107350624A (en) * | 2017-09-04 | 2017-11-17 | 南京理工大学 | A kind of robotic laser arc composite heat source welding system for carrying weld seam recognition |
| CN108788394A (en) * | 2018-05-22 | 2018-11-13 | 江苏理工学院 | A kind of laser scanning weld tracker and its tracking |
| CN108788394B (en) * | 2018-05-22 | 2020-11-20 | 江苏理工学院 | Laser scanning welding seam tracking device and tracking method thereof |
| CN110605716A (en) * | 2019-09-18 | 2019-12-24 | 成都钧诺威视智能科技有限公司 | Automatic weld joint identification and tracking method and automatic welding system |
| CN111482696A (en) * | 2020-04-22 | 2020-08-04 | 上海电气集团自动化工程有限公司 | Welding seam tracking and height measuring system of friction stir welding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204524618U (en) | A kind of automatic recognition and tracking welder of weld seam applying laser scanner | |
| CN104841593B (en) | Control method of robot automatic spraying system | |
| CN105562973B (en) | A kind of laser identification axle robot space curve welding system of weld seam 8 and method | |
| CN204524503U (en) | A kind of Novel girth welding device controlled based on weld seam Intelligent Measurement | |
| CN107414253B (en) | Welding seam tracking control device and method based on cross laser | |
| US8706300B2 (en) | Method of controlling a robotic tool | |
| CN104722926B (en) | A kind of robot three-dimensional laser automatic cutting system method | |
| CN106583974B (en) | One kind quickly seeks a welding system and welding method without programming structure part laser | |
| CN102615390B (en) | Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof | |
| CN103170767B (en) | Welding robot control method | |
| CN104785960B (en) | A kind of robot welding equipment being applicable to network part vertical weld and welding method | |
| CN108453439A (en) | The robot welding track self-programming system and method for view-based access control model sensing | |
| CN103480991B (en) | Thin steel plate narrow welding joint online visual inspection and control device | |
| CN104785958B (en) | A kind of cryogenic tank outer member robot welding workstation | |
| CN106112216A (en) | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer | |
| CN107552289B (en) | A kind of visual identity paint-spray robot system and its operation method | |
| CN111014879A (en) | Automatic welding method for corrugated plate of robot based on laser weld seam tracking | |
| CN201592307U (en) | Welding system for fillet welded joint of corrugated plate of container | |
| CN107498152A (en) | A kind of large area metal plate tool structure automatic soldering device for being classified positioning | |
| CN103722278A (en) | Laser tracking method and system for welding manipulator groove weld track | |
| CN115723133B (en) | Automatic positioning and correcting system for space welding seam of robot based on virtual-real combination | |
| CN104551341A (en) | Numerical control ring welding machine and interpolation control method thereof | |
| CN115070298A (en) | Efficient double-wire welding path generation system and path generation method | |
| CN111687515A (en) | Intelligent welding guide system for large steel structure | |
| CN207077080U (en) | Weld Seam Tracking Control device based on cross laser |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |