CN206779658U - Stereoscopic vision laser aiming robot welding system - Google Patents
Stereoscopic vision laser aiming robot welding system Download PDFInfo
- Publication number
- CN206779658U CN206779658U CN201720263669.9U CN201720263669U CN206779658U CN 206779658 U CN206779658 U CN 206779658U CN 201720263669 U CN201720263669 U CN 201720263669U CN 206779658 U CN206779658 U CN 206779658U
- Authority
- CN
- China
- Prior art keywords
- submerged
- arc welding
- crossbeam
- welding gun
- saddle
- 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.)
- Expired - Fee Related
Links
Landscapes
- Arc Welding In General (AREA)
Abstract
The utility model discloses a kind of stereoscopic vision laser aiming robot welding system, it is related to steel-pipe welding technical field, there is provided a kind of to track position while welding so as to simplify the large-scale steel pipe welding system of welding operation.Track, base, rotary supporting device, vertical beam, saddle, crossbeam, micromatic setting, submerged arc welding machine, submerged-arc welding gun, flux restoring conveying integrated machine, wire reel and vision system that the welding system includes etc.；Base sets in orbit and can moved；Submerged arc welding machine and rotary supporting device are connected with base；Vertical beam is connected with rotary supporting device；Saddle is connected with vertical beam and can moved up and down；Crossbeam is through saddle and can move axially；Flux restoring conveying integrated machine and micromatic setting are connected with crossbeam；Submerged-arc welding gun is connected with micromatic setting；Submerged arc welding machine electrically connects with submerged-arc welding gun, and wire reel is connected with crossbeam and conveys welding wire to submerged-arc welding gun, and flux restoring conveying integrated machine is by near flux delivery to submerged-arc welding gun；Vision system detect and track weld seam.
Description
Technical field
It the utility model is related to large diameter steel pipe welding technology field, more particularly to a kind of steel-pipe welding system.
Background technology
The welding of longitudinal seam welding or stiffening ring either to single-unit steel pipe, and the docking circumferential weld of two large-scale steel pipes
Welding, the weldering of large-scale steel pipe longitudinal joint and circumferential weld is all caused due to the welder for lacking corresponding traceable position while welding at present
Connect and be difficult to automatic welding, and weld needs substantial amounts of manpower manually, and it is less efficient.
Utility model content
The technical problems to be solved in the utility model is：Position while welding can be tracked so as to simplify welding operation by providing one kind
Large-scale steel pipe welding system.
Technical scheme for the use that solves the above problems is：Stereoscopic vision laser aiming robot welding system, its feature exist
In：It is micro- including track, base, rotary supporting device, vertical beam, saddle, crossbeam, longitudinal micromatic setting, transverse fine-adjusting device, rotation
Adjust device, submerged arc welding machine, submerged-arc welding gun, flux restoring conveying integrated machine, wire reel, binocular vision system, vision system frame and
Electric control gear；
Number of tracks is two, and two parallel tracks are set；Base sets in orbit and can moved along track；Submerged arc
Welding machine and rotary supporting device are connected with base；Vertical beam is vertically arranged and is connected with rotary supporting device；Saddle is connected with vertical beam
And it can be moved along vertical beam；Crossbeam is horizontally disposed with, and crossbeam is connected through saddle and with saddle, and crossbeam can move axially；Solder flux
Recovery conveying integrated machine is connected with crossbeam one end, and longitudinal micromatic setting is connected with the crossbeam other end；Transverse fine-adjusting device and longitudinal direction
Micromatic setting connects；Rotating fine-regulating device is connected with transverse fine-adjusting device；Submerged-arc welding gun is connected with rotating fine-regulating device；Submerged-arc welding
Machine electrically connects with submerged-arc welding gun, and wire reel is connected with crossbeam and conveys welding wire to submerged-arc welding gun, and flux restoring conveying integrated machine will
Flux delivery is near submerged-arc welding gun.
Vision system frame is connected with crossbeam, and electric control gear is connected with base；Binocular vision system includes camera and laser
Generator, camera and laser generator are located above submerged-arc welding gun and are connected with vision system frame, and camera and laser occur
Device electrically connects with electric control gear, camera and laser generator detection position while welding；Electric control gear is sent out according to camera and laser
The signal control of raw device controls the position of saddle and crossbeam and controls longitudinal micromatic setting, transverse fine-adjusting device and rotary fine adjustment
The action of device causes submerged-arc welding gun to track position while welding.
The beneficial effects of the utility model are：Saddle can move up and down, crossbeam can stretching motion, longitudinal direction fine setting dress
Put, transverse fine-adjusting device and rotating fine-regulating device energy precise fine-adjustment so that the position of submerged-arc welding gun can free accurate adjustment, from
And enable submerged-arc welding gun to track position while welding and realize automatic welding.
Brief description of the drawings
Fig. 1 is stereoscopic vision laser aiming robot welding system two-dimensional structure figure；
Fig. 2 is the enlarged drawing of part-structure near submerged-arc welding gun；
Fig. 3 is the structure chart that stereoscopic vision laser aiming robot welding system looks up direction；
Fig. 4 is stereoscopic vision laser aiming robot welding system tomograph；
In figure mark for：Track 1, roller 1-1, roller driving device 1-2, overturn-preventing structure 1-3, electric control gear 2, revolution
Supporting arrangement 3, base 4, submerged arc welding machine 5, flux restoring conveying integrated machine 6, vertical beam 7, reducing motor 7-1, anti-fall device 7-2,
Saddle 8, crossbeam 9, wire reel 10, longitudinal micromatic setting 11, transverse fine-adjusting device 12, rotating fine-regulating device 13, submerged-arc welding gun 14,
Camera frame 15, camera 16, laser generator 17.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and detailed description.
Stereoscopic vision laser aiming robot welding system, it is characterised in that：Including track 1, base 4, rotary supporting device
3rd, vertical beam 7, saddle 8, crossbeam 9, longitudinal micromatic setting 11, transverse fine-adjusting device 12, rotating fine-regulating device 13, submerged arc welding machine 5, bury
Arc welding torch 14, flux restoring conveying integrated machine 6, wire reel 10, binocular vision system, vision system frame 15 and electric control gear 2；Rail
The quantity of road 1 is two, and two tracks 1 be arranged in parallel；Base 4 sets on path 1 and can moved along track 1；Submerged arc welding machine 5
It is connected with rotary supporting device 3 with base 4；Vertical beam 7 is vertically arranged and is connected with rotary supporting device 3；Saddle 8 connects with vertical beam 7
Connect and can be moved along vertical beam 7；Crossbeam 9 is horizontally disposed, and crossbeam 9 is connected through saddle 8 and with saddle 8, and crossbeam 9 can be moved axially
It is dynamic；Flux restoring conveying integrated machine 6 is connected with the one end of crossbeam 9, and longitudinal micromatic setting 11 is connected with the other end of crossbeam 9；It is laterally micro-
Device 12 is adjusted to be connected with longitudinal micromatic setting 11；Rotating fine-regulating device 13 is connected with transverse fine-adjusting device 12；Submerged-arc welding gun 14 with
Rotating fine-regulating device 13 connects；Submerged arc welding machine 5 electrically connects with submerged-arc welding gun 14, and wire reel 10 is connected with crossbeam 9 and to submerged-arc welding
Rifle 14 conveys welding wire, and flux restoring conveying integrated machine 6 is by near flux delivery to submerged-arc welding gun 14.Vision system frame 15 and crossbeam
9 connections, electric control gear 2 are connected with base 4；Binocular vision system includes camera 16 and laser generator 17, the He of camera 16
Laser generator 17 is located at the top of submerged-arc welding gun 14 and is connected with vision system frame 15, camera 16 and laser generator 17 and electricity
Control device 2 electrically connects, and camera 16 and laser generator 17 detect position while welding；Electric control gear 2 is according to camera 16 and laser
The signal control of generator controls the position of saddle 8 and crossbeam 9 and controls longitudinal micromatic setting 11, the and of transverse fine-adjusting device 12
The action of rotating fine-regulating device 13 causes submerged-arc welding gun 14 to track position while welding.
Base 4 can move in a big way on path 1 so that welding system is toward or away from steel pipe to be welded.Base 4
Using frame-type car body, the plane of connection rotary supporting device 3 is formed at top, and inside sets mass to ensure the bringing onto load of crossbeam 9
Under the conditions of maximum monolithic stability when stretching out work.The bottom of base 4 sets the roller 1-1 rolled on path 1 and driving roller
The roller driving device 1-2 that 1-1 is rotated, roller driving device 1-2 can be driven using reducing motor as power by chain sprocket
Drive roller to rotate, finally realize the walking of base 4.Settable overturn-preventing structure 1-3 as shown in Figure 3, ensure that base 4 is quick
Complete machine will not topple when starting or braking.
Rotary supporting device 3 can drive vertical beam 7 to rotate, final to drive submerged-arc welding gun 14 to move to track position while welding.
Rotary supporting device 3 includes built-in reducing motor, drives vertical beam 7 to rotate by the travelling gear of machine shaft institute band.Vertical beam 7
It can be bolted with rotary supporting device 3, also can configure pneumatic locking device on rotary supporting device 3, pass through cylinder
Compact heap (seal face stickup rubber cushion) is promoted to compress column bottom plate outer to realize locking positioning.
For vertical beam 7 with playing a supportive role and being the mobile offer track of saddle 8, the movement of saddle 8 drives crossbeam 9 to move up and down,
Same final drive submerged-arc welding gun 14 is moved to track position while welding.Reducing motor 7-1 drive sprockets-chain drive can be used
Mechanism, chain-driving crossbeam 9 lift.Settable anti-fall device 7-2 locking saddles 8.
Crossbeam 9 is axially moved in saddle 8, and same final drive submerged-arc welding gun 14 is moved to track position while welding.It can adopt
Moved with motor-driven pinion and rack driving crossbeam 9.
Submerged arc welding machine 5, submerged-arc welding gun 14 and wire reel 10 are the component of the submerged arc welding device of prior art.Flux restoring
Conveying integrated machine 6 is similarly prior art products.
Longitudinal micromatic setting 11, transverse fine-adjusting device 12 and rotating fine-regulating device 13 are small size and accurately adjust submerged-arc welding gun
14 position so that submerged-arc welding gun 14 can accurately track position while welding.Longitudinal micromatic setting 11 and transverse fine-adjusting device 12
It can be realized by motor drive screw-screw nut driving mechanism.Rotating fine-regulating device 13 can be driven by motor and worm screw-snail
Wheel drive mechanism is realized.
Submerged-arc welding gun 14 of the present utility model can multiple directions move and can be rotated such that the utility model can adapt to
The welding of a variety of weld seams.
Claims (1)
1. stereoscopic vision laser aiming robot welding system, it is characterised in that：Including track (1), base (4), pivoting support dress
Put (3), vertical beam (7), saddle (8), crossbeam (9), longitudinal micromatic setting (11), transverse fine-adjusting device (12), rotating fine-regulating device
(13), submerged arc welding machine (5), submerged-arc welding gun (14), flux restoring conveying integrated machine (6), wire reel (10), binocular vision system,
Vision system frame (15) and electric control gear (2)；
Track (1) quantity is two, and two tracks (1) be arranged in parallel；Base (4) is arranged on track (1) and can be along track
(1) it is mobile；Submerged arc welding machine (5) and rotary supporting device (3) are connected with base (4)；Vertical beam (7) is vertically arranged and and pivoting support
Device (3) connects；Saddle (8) is connected with vertical beam (7) and can be mobile along vertical beam (7)；Crossbeam (9) is horizontally disposed, and crossbeam (9) is worn
Cross saddle (8) and be connected with saddle (8), crossbeam (9) can move axially；Flux restoring conveying integrated machine (6) and crossbeam (9) one
End connection, longitudinal micromatic setting (11) are connected with crossbeam (9) other end；Transverse fine-adjusting device (12) and longitudinal micromatic setting (11)
Connection；Rotating fine-regulating device (13) is connected with transverse fine-adjusting device (12)；Submerged-arc welding gun (14) connects with rotating fine-regulating device (13)
Connect；Submerged arc welding machine (5) is electrically connected with submerged-arc welding gun (14), and wire reel (10) is connected and defeated to submerged-arc welding gun (14) with crossbeam (9)
Welding wire is sent, flux restoring conveying integrated machine (6) is by near flux delivery to submerged-arc welding gun (14)；
Vision system frame (15) is connected with crossbeam (9), and electric control gear (2) is connected with base (4)；Binocular vision system includes shooting
Head (16) and laser generator (17), camera (16) and laser generator (17) are located above submerged-arc welding gun (14) and and vision
System tray (15) connects, and camera (16) and laser generator (17) electrically connect with electric control gear (2), camera (16) and laser
Generator (17) detects position while welding；Electric control gear (2) is controlled according to the signal of camera (16) and laser generator (17) and controlled
The position of saddle (8) processed and crossbeam (9) and control longitudinal micromatic setting (11), transverse fine-adjusting device (12) and rotary fine adjustment dress
The action for putting (13) causes submerged-arc welding gun (14) to track position while welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720263669.9U CN206779658U (en) | 2017-03-17 | 2017-03-17 | Stereoscopic vision laser aiming robot welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720263669.9U CN206779658U (en) | 2017-03-17 | 2017-03-17 | Stereoscopic vision laser aiming robot welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206779658U true CN206779658U (en) | 2017-12-22 |
Family
ID=60705486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720263669.9U Expired - Fee Related CN206779658U (en) | 2017-03-17 | 2017-03-17 | Stereoscopic vision laser aiming robot welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206779658U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145288A (en) * | 2017-12-25 | 2018-06-12 | 重庆蔡氏液压设备有限公司 | A kind of submerged arc soldering equipment |
| CN108214957A (en) * | 2018-01-23 | 2018-06-29 | 张进京 | A kind of vertical both arms machine architecture and its application |
| CN108655543A (en) * | 2018-05-23 | 2018-10-16 | 中车太原机车车辆有限公司 | Reference type submerged arc weld machine automatization tracks of device and automatic tracking type bonding machine |
| CN108788413A (en) * | 2018-07-17 | 2018-11-13 | 江苏海灵重工设备科技有限公司 | A kind of offshore wind turbine single-pile foundation Accessory Members collar tie beam welding equipment |
| CN109604783A (en) * | 2019-01-30 | 2019-04-12 | 北京时代科技股份有限公司 | A kind of robot workstation based on submerged arc welding |
| CN110596158A (en) * | 2019-10-09 | 2019-12-20 | 武汉科技大学 | X-ray automatic detection device for welding seam of large-curvature workpiece |
| CN111906419A (en) * | 2020-08-28 | 2020-11-10 | 广西建工集团第一安装有限公司 | Automatic welding device and welding method for interior of sugar-making evaporation tank |
| CN112658562A (en) * | 2021-01-25 | 2021-04-16 | 河南欧那科自动化设备有限公司 | Automatic welding equipment for inner vertical seam of main beam of crane |
| CN116604241A (en) * | 2023-06-06 | 2023-08-18 | 深圳雅鑫建筑钢结构工程有限公司 | Welding robot capable of automatically and continuously working and control method |
-
2017
- 2017-03-17 CN CN201720263669.9U patent/CN206779658U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145288A (en) * | 2017-12-25 | 2018-06-12 | 重庆蔡氏液压设备有限公司 | A kind of submerged arc soldering equipment |
| CN108214957A (en) * | 2018-01-23 | 2018-06-29 | 张进京 | A kind of vertical both arms machine architecture and its application |
| CN108655543A (en) * | 2018-05-23 | 2018-10-16 | 中车太原机车车辆有限公司 | Reference type submerged arc weld machine automatization tracks of device and automatic tracking type bonding machine |
| CN108788413A (en) * | 2018-07-17 | 2018-11-13 | 江苏海灵重工设备科技有限公司 | A kind of offshore wind turbine single-pile foundation Accessory Members collar tie beam welding equipment |
| CN108788413B (en) * | 2018-07-17 | 2023-12-05 | 江苏海力海上风电装备制造有限公司 | Welding equipment for ring beam of single-pile foundation accessory component of offshore wind turbine generator system |
| CN109604783A (en) * | 2019-01-30 | 2019-04-12 | 北京时代科技股份有限公司 | A kind of robot workstation based on submerged arc welding |
| CN110596158A (en) * | 2019-10-09 | 2019-12-20 | 武汉科技大学 | X-ray automatic detection device for welding seam of large-curvature workpiece |
| CN111906419A (en) * | 2020-08-28 | 2020-11-10 | 广西建工集团第一安装有限公司 | Automatic welding device and welding method for interior of sugar-making evaporation tank |
| CN111906419B (en) * | 2020-08-28 | 2024-02-06 | 广西建工集团第一安装工程有限公司 | Automatic welding device and welding method for interior of sugar-making evaporation tank |
| CN112658562A (en) * | 2021-01-25 | 2021-04-16 | 河南欧那科自动化设备有限公司 | Automatic welding equipment for inner vertical seam of main beam of crane |
| CN116604241A (en) * | 2023-06-06 | 2023-08-18 | 深圳雅鑫建筑钢结构工程有限公司 | Welding robot capable of automatically and continuously working and control method |
| CN116604241B (en) * | 2023-06-06 | 2024-02-23 | 深圳雅鑫建筑钢结构工程有限公司 | Welding robot capable of automatically and continuously working and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206779658U (en) | Stereoscopic vision laser aiming robot welding system | |
| CN104959714B (en) | Four-head gantry welder and control method for single-beam of driving a vehicle | |
| CN106078030B (en) | One kind is used for penstock stiffening ring automatic welding device and method | |
| CN202951961U (en) | Circumferential weld submerged-arc welding device for butt-joint of steel pipes | |
| CN209614658U (en) | Double-arm welding equipment | |
| CN203316884U (en) | Multifunctional welding test machine | |
| CN101306488A (en) | Double arc four wire automatic arc-submerging welder and manufacture method thereof | |
| CN104493370A (en) | Automatic welding process for small-diameter pipe | |
| CN211966280U (en) | Device capable of realizing automatic welding of stiffening ring | |
| CN110814472A (en) | Master-slave type wall climbing welding robot system suitable for large steel structural member | |
| CN104801916A (en) | Automatic rotating welding device for pipeline | |
| CN110355509A (en) | A kind of pipe welding robot | |
| CN103143814A (en) | Equipment special for girth welding of steel pipe and welding neck flange | |
| CN104588835A (en) | Automatically welding machining system of pipe fitting of small diameter | |
| CN103317243B (en) | Carrier rocket fuel tank casing girth welding system | |
| CN103978293A (en) | Multifunctional welding equipment integrating multiple welding ways | |
| CN102922190A (en) | Welding trolley | |
| CN111906419A (en) | Automatic welding device and welding method for interior of sugar-making evaporation tank | |
| CN205325025U (en) | Pipe flange welding special plane | |
| CN106563901A (en) | Laser guiding numerical control welding machine | |
| CN111673335B (en) | Precise welding robot and welding method | |
| CN202894634U (en) | Welding carriage | |
| CN207013883U (en) | A kind of steel pipe spiral weld welder | |
| CN102078997A (en) | Special machine for welding pipeline with small pipe diameter | |
| CN101862914A (en) | Obstacle-avoiding type automatic welding machine with double welding guns |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 618300 Sichuan city of Deyang province Guanghan City Economic Development Zone (East Shenzhen road two) Sichuan Chuan'an Guogou Robot Technology Co Ltd Patentee after: SICHUAN CHUAN'AN GG ROBOT TECHNOLOGY CO.,LTD. Address before: 618300 Sichuan city of Deyang province Guanghan City Economic Development Zone Shenzhen road two east section of Sichuan Haote Electric Co. Ltd. Patentee before: SICHUAN HAOTE ELECTRIC CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180410 Address after: 618300 Sichuan city of Deyang province Guanghan City Economic Development Zone (East Shenzhen road two) Sichuan Chuan'an Guogou Robot Technology Co Ltd Co-patentee after: SINOHYDRO BUREAU 7 Co.,Ltd. Patentee after: SICHUAN CHUAN'AN GG ROBOT TECHNOLOGY CO.,LTD. Address before: 618300 Sichuan city of Deyang province Guanghan City Economic Development Zone (East Shenzhen road two) Sichuan Chuan'an Guogou Robot Technology Co Ltd Patentee before: SICHUAN CHUAN'AN GG ROBOT TECHNOLOGY CO.,LTD. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 611730 No. 349 Chengguan East Road, North Street, PI Gu Town, Pixian, Chengdu, Sichuan. Co-patentee after: SICHUAN CHUAN'AN GG ROBOT TECHNOLOGY CO.,LTD. Patentee after: SINOHYDRO BUREAU 7 Co.,Ltd. Address before: 618300 Sichuan Guanghan Deyang Economic Development Zone (Shenzhen Road East two segment) Sichuan Chuan an state purchase Robot Technology Co., Ltd. Co-patentee before: SINOHYDRO BUREAU 7 Co.,Ltd. Patentee before: SICHUAN CHUAN'AN GG ROBOT TECHNOLOGY CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171222 Termination date: 20190317 |