CN204725027U - A kind of container top stiffener automatic welding device with three-dimensional weld seam recognition - Google Patents

Abstract

The utility model discloses an automatic welding equipment for a container roof reinforcement plate with three-dimensional welding seam identification, which comprises a mounting base frame, on which a control box and an X-axis traveling mechanism are respectively installed, and on the X-axis walking mechanism A Y-axis traveling mechanism is installed, a Z-axis traveling mechanism is installed on the Y-axis traveling mechanism, an R-axis rotating mechanism and a laser displacement sensor are installed on the Z-axis traveling mechanism, and a straight handle welding torch is installed on the R-axis rotating mechanism , the control box is respectively connected with the X-axis traveling mechanism, the Y-axis traveling mechanism, the Z-axis traveling mechanism, the R-axis rotating mechanism and the laser displacement sensor through lines. Therefore, the detection of the welding track is more accurate and faster.

Description

An automatic welding equipment for container roof reinforcement plate with three-dimensional weld recognition

technical field

The utility model relates to an automatic welding machine, in particular to an automatic welding device for a container top reinforcement plate with three-dimensional weld identification.

Background technique

The container roof reinforcement plate is generally an unbent hexagonal plate, or a bent hexagonal plate; it is determined by the stamping, bending and other manufacturing processes of the roof reinforcement plate, and the size of the roof reinforcement plate is relatively large. The error is enough to affect the welding of welding equipment without weld seam recognition; before welding the roof reinforcement plate with automatic equipment, workers need to fix the roof reinforcement plate on the container by spot welding. Due to the positioning error of the container itself, the position of the top reinforcement plate will also be inconsistent when the workers spot weld, so the actual welding seam will also change. When a four-axis robot based on a rectangular coordinate system is used for welding, even if the welding torch is controlled to follow the trajectory strictly, the welding wire cannot be aligned with the weld seam due to bending of the welding wire and other reasons.

Utility model content

The utility model provides an automatic welding equipment for container roof reinforcement plates with three-dimensional welding seam recognition, which has more accurate and faster welding trajectory detection, a flexible structure of a four-axis robot, and a friendly interface on a touch screen, which is convenient for adjusting welding sequence, welding The characteristics of parameters such as speed and welding angle.

In order to achieve the above purpose, the technical solution of the present utility model is: an automatic welding equipment for the reinforcement plate of the container roof with three-dimensional weld recognition, which includes two lifting frames, wherein each lifting frame is equipped with a lifting cylinder and a control box. A touch screen is installed on the control box, and a limit mechanism is installed between the lifting frame and the lifting cylinder. A Y-axis traveling mechanism is installed on the mechanism, a Z-axis traveling mechanism is installed on the Y-axis traveling mechanism, an R-axis rotating mechanism is installed on the Z-axis traveling mechanism, and a laser displacement sensor is respectively installed on the R-axis rotating mechanism and straight welding torches.

The X-axis traveling mechanism includes an X-axis guide rail installed on the beam, an X-axis motor and an X-axis screw rod, the X-axis motor is connected with the X-axis screw rod, and an X-axis slider is installed on the X-axis guide rail. An X-axis screw nut and a Y-axis traveling mechanism are installed on the X-axis slider, and the X-axis screw nut is connected with the X-axis screw.

The Y-axis traveling mechanism includes a Y-axis guide rail and a Y-axis screw nut installed on the X-axis slider. A Y-axis mounting frame is installed on the Y-axis rail, and a Y-axis motor is installed on the Y-axis mounting frame. , Y-axis screw rod and Z-axis traveling mechanism, the Y-axis motor is connected with the Y-axis screw rod, and the Y-axis screw rod is connected with the Y-axis screw rod nut.

The Z-axis traveling mechanism includes a Z-axis base plate installed on the Y-axis guide rail, and the Z-axis base plate is equipped with a Z-axis guide rail, a Z-axis screw rod, and a Z-axis motor mounting seat. There is a Z-axis motor, the Z-axis motor is connected with the Z-axis screw, the Z-axis slider is installed on the Z-axis guide rail, and the Z-axis slider is connected with a Z-axis screw nut.

The R-axis rotation mechanism includes an R-axis motor mounting seat installed on the Z-axis slider, and a laser displacement sensor and an R-axis motor are respectively installed on the R-axis motor mounting seat, and the R-axis motor passes through a star reducer Attached to straight welding torches.

The beneficial effects of the utility model are: the utility model comprises two lifting frames, wherein a lifting cylinder and a control box are installed on each lifting frame, a touch screen is installed on the control box, and a lifting frame is installed between the lifting frame and the lifting cylinder Limiting mechanism, the lifting cylinder is equipped with a crossbeam, and two X-axis traveling mechanisms are installed on the crossbeam, wherein each X-axis traveling mechanism is equipped with a Y-axis traveling mechanism, and the Y-axis traveling mechanism is installed with A Z-axis traveling mechanism, an R-axis rotating mechanism is installed on the Z-axis traveling mechanism, and a laser displacement sensor and a straight-handle welding torch are respectively installed on the R-axis rotating mechanism. The four-axis action mechanism makes welding more flexible, and the friendly interface of the touch screen makes it easy to adjust welding sequence, welding speed, welding angle and other parameters. The three-dimensional weld track scanning recognition method makes the detection of welding track more accurate and faster.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the combined schematic view of the X-axis traveling mechanism, the Y-axis traveling mechanism, the Z-axis traveling mechanism structure and the R-axis rotating mechanism of the present invention;

Fig. 3 is a partial structural schematic diagram of the shaft combination of the X-axis traveling mechanism and the Y-axis traveling mechanism of the present invention;

Fig. 4 is a schematic structural view of the Z-axis traveling mechanism of the present invention.

Detailed ways

Example 1

As shown in Figures 1-4, an automatic welding equipment for container roof reinforcement plates with three-dimensional weld recognition includes two lifting frames 1, wherein each lifting frame 1 is equipped with a lifting cylinder 2 and a control box 3, and the control box 3 is equipped with a touch screen 31, a limit mechanism 4 is installed between the lifting frame 1 and the lifting cylinder 2, a beam 5 is mounted on the lifting cylinder 2, and two X-axis traveling mechanisms 6 are installed on the beam 5, Wherein each X-axis traveling mechanism 6 is equipped with a Y-axis traveling mechanism 7, the Y-axis traveling mechanism 7 is equipped with a Z-axis traveling mechanism 8, and the Z-axis traveling mechanism 8 is equipped with an R-axis rotating mechanism 10, so A laser displacement sensor 9 and a straight handle welding torch 11 are respectively installed on the R-axis rotating mechanism 10 . Metal covers are respectively installed on the X-axis traveling mechanism and the Z-axis traveling mechanism. Four-axis action mechanism makes welding more flexible.

The X-axis traveling mechanism 6 includes an X-axis guide rail 12 installed on the beam 5, an X-axis motor 13 and an X-axis screw rod 14, the X-axis motor 13 is connected with the X-axis screw rod 14, and the X-axis guide rail 12 An X-axis slider 15 is installed on the X-axis slider 15, and an X-axis screw nut 16 and a Y-axis traveling mechanism 7 are installed on the X-axis slider 15, and the X-axis screw nut 16 is connected with the X-axis screw 14.

The Y-axis traveling mechanism 7 includes a Y-axis guide rail 17 and a Y-axis screw nut 18 installed on the X-axis slider 15, and a Y-axis mounting frame 32 is installed on the Y-axis guide rail 17, and the Y-axis mounting frame 32 is equipped with a Y-axis motor 19, a Y-axis screw rod 20 and a Z-axis traveling mechanism 7, the Y-axis motor 19 is connected with the Y-axis screw rod 20, and the Y-axis screw rod 20 is connected with the Y-axis screw rod nut 18 .

The Z-axis traveling mechanism 8 includes a Z-axis base plate 21 installed on the Y-axis guide rail 17, and a Z-axis guide rail 22, a Z-axis screw rod 23, and a Z-axis motor mounting seat 24 are installed on the Z-axis base plate 21. A Z-axis motor 25 is installed on the Z-axis motor mount 24, and the Z-axis motor 25 is connected with the Z-axis screw rod 23. A Z-axis slider 26 is installed on the Z-axis guide rail 22, and A Z-axis screw nut 27 and an R-axis rotating mechanism 10 are installed, and the Z-axis screw nut 27 is connected with the Z-axis screw 23 .

The R-axis rotation mechanism 10 includes an R-axis motor mount 28 mounted on the Z-axis slider 26, and a laser displacement sensor 9 and an R-axis motor 29 are installed on the R-axis motor mount 28 respectively. The motor 29 is connected with the straight handle welding torch 11 through a star reducer 30 .

A method for scanning and identifying three-dimensional weld trajectory, comprising the following steps:

1) Input the theoretical size of the workpiece and collect the walking interval and the total travel distance on the touch screen;

2) The system determines two scanning positions for each side according to the theoretical size;

3) First scan at the first scanning position on the first side. The system moves the sensor to the starting point of scanning by controlling the X and Y axes. After reaching the starting point of scanning, if the side is parallel to the X axis, then control the Y The axis drives the sensor to scan in the predetermined direction. If the side is parallel to the Y axis, control the X axis to drive the sensor to scan in the predetermined direction;

4) At the same time, according to the collection interval set on the touch screen, during the scanning process, collect a sequence of distances between the welding torch and the workpiece in the Z-axis direction and save them, and then calculate the coordinates on the XY plane and the The distance between the welding torch and the workpiece in the Z-axis direction is the edge point of the weld seam;

After completing the scanning of the first edge point of the first side, the system moves the sensor to the starting point of the second edge point scanning of the first side by controlling the X and Y axes, and identifies the second edge point;

5) After scanning the two edge points of the first side, scan the two edge points of the next line, and repeat until the scanning of the two edge points on all sides is completed;

6) Determine the actual edge straight line according to the two 3D edge points on each edge;

7) Calculate the intersection point of every two adjacent straight lines on the plane to form a weld track on a closed plane;

8) After the welding seam identification is completed, the trajectory information of the welding seam is saved in the system, and then the system moves the welding torch to the starting point of the actual trajectory of the first side, and starts welding along the actual trajectory through four-axis linkage; after completing the first After one side is welded, the next side is welded until all welding is completed. Therefore, the three-dimensional weld trajectory scanning recognition method is used to make the detection of the welding trajectory more accurate and faster.

Claims (5)

1. An automatic welding equipment for container roof reinforcement plates with three-dimensional weld recognition, characterized in that it includes two lifting frames (1), wherein each lifting frame (1) is equipped with a lifting cylinder (2) and a control box (3), a touch screen (31) is installed on the control box (3), a limit mechanism (4) is installed between the lifting frame (1) and the lifting cylinder (2), and the lifting cylinder (2) A crossbeam (5) is erected, and two X-axis traveling mechanisms (6) are installed on the crossbeam (5), wherein each X-axis traveling mechanism (6) is equipped with a Y-axis traveling mechanism (7), and the Y A Z-axis traveling mechanism (8) is installed on the axis traveling mechanism (7), and an R-axis rotating mechanism (10) is installed on the Z-axis traveling mechanism (8), and the R-axis rotating mechanism (10) is respectively installed with Laser displacement sensor (9) and straight handle welding torch (11). 2. An automatic welding equipment for container roof reinforcement plates with three-dimensional weld recognition according to claim 1, characterized in that: the X-axis traveling mechanism (6) includes an X-axis guide rail ( 12), the X-axis motor (13) and the X-axis screw (14), the X-axis motor (13) is connected with the X-axis screw (14), and the X-axis slide rail (12) is installed on the X-axis Block (15), the X-axis screw nut (16) and the Y-axis traveling mechanism (7) are installed on the X-axis slider (15), and the X-axis screw nut (16) is connected with the X-axis screw rod (14 ) connected. 3. An automatic welding equipment for container roof reinforcement plates with three-dimensional weld recognition according to claim 2, characterized in that: the Y-axis traveling mechanism (7) includes a Y-axis mounted on the X-axis slider (15). axis guide rail (17) and Y-axis screw nut (18), the Y-axis mounting frame (32) is installed on the Y-axis guide rail (17), and the Y-axis motor (32) is installed on the Y-axis mounting frame (32) 19), the Y-axis screw (20) and the Z-axis traveling mechanism (7), the Y-axis motor (19) is connected with the Y-axis screw (20), and the Y-axis screw (20) is connected with the Y-axis screw The rod nut (18) is connected. 4. An automatic welding equipment for container roof reinforcement plates with three-dimensional weld recognition according to claim 3, characterized in that: the Z-axis traveling mechanism (8) includes a Z-axis mounted on the Y-axis guide rail (17). The base plate (21), the Z-axis base plate (21) is equipped with a Z-axis guide rail (22), a Z-axis screw rod (23), a Z-axis motor mount (24), and the Z-axis motor mount (24) A Z-axis motor (25) is installed on the top, and the Z-axis motor (25) is connected with the Z-axis screw rod (23), and a Z-axis slider (26) is installed on the Z-axis guide rail (22), and the Z-axis A Z-axis screw nut and an R-axis rotation mechanism (10) are installed on the slider (26), and the Z-axis screw nut is connected with the Z-axis screw (23). 5. An automatic welding equipment for container roof reinforcement plates with three-dimensional weld recognition according to claim 4, characterized in that: the R-axis rotating mechanism (10) includes an R-axis mounted on the Z-axis slider (26) A shaft motor mount (28), the R-axis motor mount (28) is respectively equipped with a laser displacement sensor (9) and an R-axis motor (29), and the R-axis motor (29) passes through a star reducer ( 30) Connect with the straight handle welding torch (11).