CN207372499U - A kind of laser welding system based on CCD vision monitorings - Google Patents
A kind of laser welding system based on CCD vision monitorings Download PDFInfo
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- CN207372499U CN207372499U CN201721151120.7U CN201721151120U CN207372499U CN 207372499 U CN207372499 U CN 207372499U CN 201721151120 U CN201721151120 U CN 201721151120U CN 207372499 U CN207372499 U CN 207372499U
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Abstract
The utility model provides a kind of laser welding system based on CCD vision monitorings, including laser-beam welding machine, workbench, charging tray system, control system；Control system includes automatic control device and the monitoring device for monitoring above equipment working condition；Laser-beam welding machine includes collimation focusing head, CCD units, laser and makes moving mechanism of the laser-beam welding machine along three-axis moving；The outer wall of collimation focusing head is equipped with circulatory mediator cooling component；Charging tray system includes charging tray, charging tray rotating device, charging tray turnover device and charging tray frame.The beneficial effects of the utility model are：Not only can the irregular workpiece such as arc, the ball-type for being easily blocked and being not easy to welding can also be welded with welding plane figure workpiece；Workpiece of different shapes can be fixed in the multi-functional clamp of charging tray, so as to avoid burn to artificial situation；Automatic cooling processing can be carried out by collimation focus head in real time by circulatory mediator cooling component, improve the service life of collimation focusing head.
Description
Technical field
The utility model is related to arrive technical field of welding equipment more particularly to a kind of laser based on CCD vision monitorings
Welding system.
Background technology
With the progress and development of science and technology, laser has been used as a kind of tool application in all trades and professions.Due to laser
High brightness high intensity characteristic, and the size of laser facula can focus on micron dimension by focus lamp, therefore laser adds
Work technology receives favor in the industry for having high-precision processing request；With the development of computer vision technique, by means of
Image sensing apparatus and the intelligentized image procossings such as CCD video cameras, infrared video camera, X light defectoscope, high-speed camera
Method, many robots and specific automatic welding device also possess certain visual performance, can lead to welding process
Cross CCD synchronization cameras and be transferred to industrial personal computer and human-computer interaction interface, so as to staff it is more convenient monitor welding quality；
Laser-beam welding machine currently on the market can be with welding point, straight line, square and circular etc. planar graphs workpiece, for flat
The welding of face figure workpiece is generally divided into two steps to complete, first, spot welding, two workpiece to be welded is fixed together, still
For workpiece such as some irregular arc, ball-types for being not easy weld such as welding point and being blocked by barrier, just it is not easy to weld, though
Human weld so may be employed, but welding quality is difficult to control, and staff is easily hurt in welding, work efficiency is extremely
Lowly, a kind of welding that with the workpiece of welding plane figure, can also not only weld arc or spherical work-piece is at this moment just needed
System.
Utility model content
The utility model provides a kind of laser welding system based on CCD vision monitorings, the above problem of solution.
To solve the above problems, the technical scheme that the utility model is provided is as follows：
A kind of laser welding system based on CCD vision monitorings including laser-beam welding machine, workbench, charging tray system, is also wrapped
Include control system；
The control system includes automatic control device and the monitoring device for monitoring above equipment working condition；
The laser-beam welding machine includes the collimation focusing head being located on all-directional rotation component, CCD units, laser and makes
Laser-beam welding machine is on the table along the moving mechanism of three-axis moving；The laser passes through optical fiber and the collimation focusing head phase
Even；The CCD units are used for the weld information automatic identification positioning to workpiece and weld information are transmitted to automation control dress
It puts；The outer wall of the collimation focusing head is equipped with circulatory mediator cooling component；
The charging tray system includes charging tray, for driving charging tray rotating device that the charging tray rotates in the horizontal direction, use
In driving the charging tray turnover device and charging tray frame that the charging tray overturn along X-axis or Y-axis.
Preferably, the automatic control device includes automation control module, automation control circuit and industrial personal computer；Institute
It states automation control module and passes through automation control circuit and industry control mechatronics；The industrial personal computer includes controlling above-mentioned set
For the motion control card of work and for extracting and analyzing the detection program module of workpiece weld information and human-computer interaction interface.
Further, the detection program module includes image receiving unit, image pre-processing unit, picture position adjustment list
Member, object-recognition unit, Objective extraction unit, with the weld information of standard compared according to unit, for weld seam to be believed
Cease target storage unit, target abnormal marking unit and the target abnormal alarm unit stored.
Preferably, the monitoring device includes camera part, imaging sensor, for each equipment work feelings after shoot
Radio receiving transmitting module that condition image is received and sent, for being controlled the camera part and imaging sensor and right
Video pictures are handled the control centre in distribution, monitor and warning device.
Further, the control centre can be SRD-1671P hard disk video recorder.
Preferably, the CCD units include CCD camera, ccd sensor and high brightness detection light source.
Preferably, circulatory mediator cooling component include interlayer, into fluid hose, go out fluid hose, solenoid valve and cycle and be situated between
Matter driving device；It is described into fluid hose and it is described go out fluid hose communicate, and be each provided on the inside of interlayer, the circulatory mediator driving dress
It puts through solenoid valve and circulatory mediator is transported in interlayer into fluid hose, exported from fluid hose is gone out.
Preferably, the charging tray frame is square groove body, and the charging tray turnover device is located at the one of the charging tray frame
Side.
Preferably, the charging tray turnover device includes upset motor, overturning shaft coupling, overturning telescopic element；The overturning
The output terminal of motor is connected by the overturning shaft coupling with the fixing end of the overturning telescopic element, the overturning telescopic element
Movable end be flexibly connected through the side plate of the charging tray frame with the charging tray.
Preferably, the charging tray is equipped with multi-functional clamp；The multi-functional clamp is equipped with horizontal extension part and makes more work(
The revolving part that energy fixture is rotated horizontally along its supporting point.
Using the above program, the utility model having the beneficial effect that compared with the prior art：
(1), used by the industrial personal computer in automatic control device and CCD unit matchings, can clearly show that and go to work
Part weld seam specifying information, and weld seam abnormal conditions are extracted, are marked and police instruction；
(2), coordinated by the collimation focusing head on the all-directional rotation component installed on laser-beam welding machine and charging tray system
It uses, not only can it is irregular can also to be welded with welding plane figure workpiece for arc, ball-type for being easily blocked and being not easy to welding etc.
Workpiece, so as to solve the problems, such as that traditional welding machine is not easy to weld the workpiece such as arc, ball-type；
(3), workpiece of different shapes can be fixed by the multi-functional clamp on charging tray, it is traditional so as to avoid
Laser-beam welding machine needs manually to fix workpiece or rotate workpiece in spot welding to carry out spot welding and burn to artificial situation；
(4), it is used cooperatively by automatic control device and monitoring device, each equipment operation feelings can be monitored in real time
Condition is alarmed in the event of failure, is improved work efficiency, is reduced artificial input, reduce the expansion of accident；
（5）, by collimation focusing head outer wall set circulatory mediator cool down component can in real time collimation focus head into
The automatic cooling processing of row, reduces the speed that collimation focusing head generates heat, improves the service life of collimation focusing head；
（6）, by motion control card, realize frequency lag function leading in the industry, specific power is servo-actuated, duty cycle is servo-actuated pair
The meaning bigger of pulse welding.
Description of the drawings
Illustrate embodiment or technical solution of the prior art in order to clearer, it below will be to embodiment or the prior art
The required attached drawing used is briefly described in description, it is clear that, the accompanying drawings in the following description is only the one of utility model
A little embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the system block diagram of the automatic control device of the utility model；
Fig. 3 is the system block diagram of the detection program module of the utility model；
Fig. 4 is the structure diagram of the circulatory mediator cooling component of the utility model；
Fig. 5 is the structure diagram of the charging tray system of the utility model；
Fig. 6 is the structure diagram of the multi-functional clamp of the utility model.
Shown in more than legend：1st, laser-beam welding machine 101, all-directional rotation component 102, laser 103, optical fiber 104,
CCD units 105, collimation focusing are first 106, moving mechanism 2, workbench 3, charging tray system 31, multi-functional clamp 311, water
Flat extensible member 312, revolving part 313, lifters 32, charging tray 33, charging tray rotating device 331, charging tray rotating device fixed frame
34th, charging tray frame 341, straight slot 35, charging tray turnover device 351, upset motor 352, overturning shaft coupling 353, overturning are flexible
Element 36, workpiece 4, control system 41, automation control module 42, automation control circuit 43, industrial personal computer 431, fortune
Dynamic control card 432, detection program module 4321, image receiving unit 4322, image pre-processing unit 4323, picture position
Adjustment unit 4324, object-recognition unit 4325, Objective extraction unit 4326, according to unit 4327, target storage unit
4328th, target abnormal marking unit 4329, target abnormal alarm unit 433, human-computer interaction interface 44, monitoring device 5, follow
Ring medium cooling component 51, interlayer 52, into fluid hose 53, go out fluid hose 54, solenoid valve 55, circulatory mediator driving device.
Specific embodiment
For the ease of understanding the utility model, in the following with reference to the drawings and specific embodiments, the utility model is carried out more detailed
Thin explanation.The preferred embodiment of the utility model is given in attached drawing.But the utility model can be with many different
Form is realized, however it is not limited to this specification described embodiment.On the contrary, the purpose for providing these embodiments is made to this
The understanding of the disclosure of utility model more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term used in this specification " fixation ", " integrated molding ",
For illustrative purposes only, the similar unit of structure is to identical label in the figure for "left", "right" and similar statement
Mark.
Unless otherwise defined, the skill of technical and scientific term all used in this specification with belonging to the utility model
The normally understood meaning of technical staff in art field is identical.In the art used in the description of the utility model in this specification
Language is intended merely to the purpose of description specific embodiment, is not intended to limitation the utility model.
As shown in Figure 1, one embodiment 1 of the utility model is：
A kind of laser welding system based on CCD vision monitorings, including laser-beam welding machine 1, workbench 2, charging tray system 3,
Further include control system 4；Laser-beam welding machine 1 is installed on workbench 2, in the installed in front charging tray system of laser-beam welding machine 1
3, in the side installation control system 4 of workbench 2.
The laser-beam welding machine 1 include the collimation focusing that is located on all-directional rotation component 101 first 105, CCD units 104,
Laser 102 and make moving mechanism 106 of the laser-beam welding machine 1 along three-axis moving on workbench 2；
Embodiment 2：All-directional rotation component 101 be mounted on laser-beam welding machine 1 head end on the downside of, can with all-directional rotation,
Workpiece 36 of different shapes adjustment angle can be directed to be welded；All-directional rotation component 101 includes three equivalent blocks, adjacent
Universal shaft is installed, it can be achieved that all-directional rotation between two equivalent blocks.
Further, in the left side of collimation focusing first 105 installation CCD units 104, installation is passed on left in CCD units 104
Laser 102 connects optical fiber head in the optical fiber 103 that passes on left of laser 102；Laser is transmitted to by optical fiber head by optical fiber 103
Laser 102, laser 102 are connected again by optical fiber 103 with the collimation focusing first 105；CCD units 104 are used for workpiece
36 weld information automatic identification positions and weld information is transmitted to automatic control device；The outer wall of collimation focusing first 105
Equipped with circulatory mediator cooling component 5.
Further, moving mechanism 106 can make laser-beam welding machine 1 do three-dimensional motion work in workbench 2, swash including driving
Collimation focusing on X-axis Power Component that photocoagulator 1 moves left and right in X-axis, driving all-directional rotation component 101 is first 105,
The standard on Y-axis Power Component and driving all-directional rotation component 101 that CCD units 104, laser 102 move back and forth in Y-axis
The Z axis Power Component that straight focus head 105, CCD units 104, laser 102 are moved up and down in Z axis.
The control system 4 includes automatic control device and the monitoring device for monitoring above equipment working condition
44。
Preferably, as shown in Fig. 2, the automatic control device includes automation control module 41, automation control electricity
Road 42 and industrial personal computer 43；The automation control module 41 is electrically connected by automation control circuit 42 with industrial personal computer 43；It is described
Industrial personal computer 43 includes the motion control card 431 that above equipment is controlled to work and for extracting and analyzing 36 weld information of workpiece
Detection program module 432 and human-computer interaction interface 433.
Further, motion control card 431 is that one kind is based on PC machine and Industrial PC Computer, for above equipment motion control field
It closes（Including displacement, speed, acceleration etc.）Upper control unit；Motion control card can be GE-X00-PX type motion controllers,
Its core is made of DSP and FPGA, is realized that high performance control calculates, and is provided C language function library and Windows dynamic links
Storehouse, so as to fulfill complicated control function.
Further, as shown in figure 3, the detection program module 432 includes image receiving unit 4321, image preprocessing list
Member 4322, picture position adjustment unit 4323, object-recognition unit 4324, Objective extraction unit 4325, the weld seam letter with standard
What breath was compared contrasts unit 4326, the target storage unit 4327 for weld information to be stored, target mark extremely
Remember unit 4328 and target abnormal alarm unit 4329.
Further, detection program module 432 can be extracted and analyze 36 weld information of workpiece and will analyze and process workpiece 36
The process of weld information be shown on human-computer interaction interface 433；
It is as follows to analyze and process workpiece weld information：
（1）First image receiving unit 4321 receive workpiece weld information image, use image pre-processing unit 4322
Sharpening processing, smooth and image the sharpening of enhancing, image such as weld information image are being carried out to image；First with high pass
Filter method can enhance the high-frequency signals such as image border, be apparent from fuzzy weld information image；Utilizing linear smoothing side
Method makes the gentle gradual change of weld information brightness of image, reduces mutation gradient, changes picture quality；Finally utilize the USM filters in PS
Processing can be by the edge clear of image；
（2）Picture position adjustment unit 4323 can adjust position that the image after sharpening is showed and angle
It is whole, it is adjusted to required suitable angles and positions；
（3）The weld seam of detection is specifically believed required for object-recognition unit 4324 can be identified from weld information image
Breath；
（4）Weld seam specifying information after identification from whole image can be extracted and separated by Objective extraction unit 4325,
And show the relevant parameter of weld seam specifying information, in order to the progress of next detection process；
（5）The weld seam specifying information parameter and the weld information of criterion of acceptability that a upper process can be extracted according to unit 4326
Parameter is compared, if detection is qualified, which is stored in follow-up examination by target storage unit 4327
And it refers to；If detection is unqualified, the weld information image is marked target abnormal marking unit 4328, different through target
Normal alarm unit 4329 is alarmed in order to the timely correcting process of staff.
Preferably, the monitoring device 44 includes camera part, imaging sensor, works for each equipment after shooting
Radio receiving transmitting module that situation map picture is received and sent, for being controlled the camera part and imaging sensor and
Video pictures are handled with the control centre in distribution, monitor and warning device.
Further, the control centre can be SRD-1671P hard disk video recorder.
Preferably, the CCD units 104 include CCD camera, ccd sensor and high brightness detection light source；Further,
High brightness detects light source and provides clearly light source for CCD camera camera shooting.
Preferably, as shown in figure 4, the circulatory mediator cooling component 5 include interlayer 51, into fluid hose 52, go out fluid hose
53rd, solenoid valve 54 and circulatory mediator driving device 55；It is described into fluid hose 52 and it is described go out fluid hose 53 communicate, and be each provided at folder
Circulatory mediator is transported to interlayer 51 by 51 inside of layer, the circulatory mediator driving device 55 by solenoid valve 54 and into fluid hose 52
It is interior, it is exported from fluid hose 53 is gone out；Further, medium tube is mounted on inside interlayer 51, and circulatory mediator is passed through to be entered into fluid hose 52
It flows out from going out in fluid hose 53, constantly cycles, the heat that collimation focusing first 105 generates can be taken away, improve collimation focusing head
105 service life.
Further, circulatory mediator can be cold water, transformer oil 25# or other fluid with cooling-down effect, liquid
Or thick medium.
As shown in figure 5, the charging tray system 3 includes charging tray 32, is rotated in the horizontal direction for driving the charging tray 32
Charging tray rotating device 33, for driving the charging tray turnover device 35 and charging tray frame 34 that the charging tray 32 overturn along Y-axis；Into one
Step, charging tray rotating device 33 can drive charging tray 32 to do ZR rotations, charging tray overturning in the plane along the Z axis perpendicular to charging tray 32
Device 35 can drive charging tray 32 to do YR flip-flop movements along Y-axis, convenient for preferably welding；Charging tray frame 34 foreboard and after
Charging tray turnover device 35 is mounted on plate, and the front and rear panels of charging tray frame 34 are equipped with vertical straight slot 341, in order to expect
Disk turnover device 35 is more preferably overturn along Y-axis；The upper surface of charging tray 32 is equipped with multi-functional clamp 31, can be on charging tray 32
Workpiece 36 is placed, multiple circular holes are uniformly provided in the side of charging tray 32.
Further, charging tray rotating device fixed frame 331 is installed in the lower end of charging tray rotating device 33, this charging tray rotating dress
Putting 33 fixed frames can be in rotary moving.
Preferably, the charging tray frame 34 is square groove body, and the charging tray turnover device 35 is located at the charging tray frame
34 one side.
Preferably, the charging tray turnover device 35 includes upset motor 351, overturning shaft coupling 352, overturning telescopic element
353；The fixing end that the output terminal of the upset motor 351 passes through the overturning shaft coupling 352 and the overturning telescopic element 353
Connection, the side plate of movable end through the charging tray frame 34 of the overturning telescopic element 353 are flexibly connected with the charging tray 32.
Further, the circular hole matching on the side plate of the charging tray 32 of the movable end of telescopic element 353 is overturn, when charging tray 32 is rotated in horizontal plane
When overturn telescopic element 353 movable end contraction pulled out out of 32 side plate of charging tray circular hole；When the needs of charging tray 32 do overturning fortune
When dynamic, the movable end elongation of overturning telescopic element 353 is interior into feeding disk from the straight slot 341 in the front and rear panels of charging tray frame 34
In the circular hole of 32 side plates, subsequent charging tray turnover device 35 works is flip-flop movement YR to certain position with charging tray, in order to
Laser-beam welding machine 1 has suitable angle to weld.
Further, it is additionally provided in the front and rear panels of charging tray frame 34 for the movable support machine of charging tray turnover device 35
Structure.
Preferably, as shown in fig. 6, the charging tray 32 is equipped with multi-functional clamp 31；The multi-functional clamp 31 is equipped with water
Flat extensible member 311 and make the revolving part 312 that multi-functional clamp 31 is rotated horizontally along its supporting point.Further, multi-functional clamp 31
Further include the lifters that fixture is made to move up and down T 313.
Further, horizontal extension part 311 can be manually, or electric and pneumatic；
Revolving part 312 and lifters 313 can be pneumatically, and speed is fast during work.
Operation principle：
The spot welding of previous work is fixed：For the solid figures workpiece such as some arcs or spherical shape, elder generation is needed when starting
Its spot welding is fixed up, is then fixed on charging tray is placed into multi-functional clamp；
Welding point fixation and recognition：Setting of the motion control card in industrial personal computer in automatic control device, passes through control
The moving mechanism of laser-beam welding machine processed makes laser-beam welding machine be moved to the position that needs weld, and then manually adjusts all-directional rotation
Component makes collimation focusing head be in the angles and positions convenient for welding；
Laser Processing：Subsequent motion control card control charging tray turnover device work, makes charging tray rotate to suitable angle, makes
Need the point welded corresponding with collimation focusing head at this time and CCD units, the side of charging tray rotating device fixed frame and charging tray frame
Plate is flexibly connected, and charging tray to be kept not overturn, subsequent motion control is stuck in by the way that charging tray rotating device is controlled to make charging tray slow
Rotation is preferably welded in order to laser-beam welding machine, while the information that workpiece welds is transmitted to work by CCD units through imaging sensor
The detection program module of control machine allows it to detect weld information, and provides the result of acceptance or rejection；
Remove workpiece：Motion control card driving charging tray turnover device work first makes charging tray be turned back to reset condition, then
Multi-functional clamp rotation rise rotation, in order to remove workpiece.
Using the above program, the utility model having the beneficial effect that compared with the prior art：
(5), used by the industrial personal computer in automatic control device and CCD unit matchings, can clearly show that and go to work
Part weld seam specifying information, and weld seam abnormal conditions are extracted, are marked and police instruction；
(6), coordinated by the collimation focusing head on the all-directional rotation component installed on laser-beam welding machine and charging tray system
It uses, not only can it is irregular can also to be welded with welding plane figure workpiece for arc, ball-type for being easily blocked and being not easy to welding etc.
Workpiece, so as to solve the problems, such as that traditional welding machine is not easy to weld the workpiece such as arc, ball-type；
(7), workpiece of different shapes can be fixed by the multi-functional clamp on charging tray, it is traditional so as to avoid
Laser-beam welding machine needs manually to fix workpiece or rotate workpiece in spot welding to carry out spot welding and burn to artificial situation；
(8), it is used cooperatively by automatic control device and monitoring device, each equipment operation feelings can be monitored in real time
Condition is alarmed in the event of failure, is improved work efficiency, is reduced artificial input, reduce the expansion of accident；
（5）, by collimation focusing head outer wall set circulatory mediator cool down component can in real time collimation focus head into
The automatic cooling processing of row, reduces the speed that collimation focusing head generates heat, improves the service life of collimation focusing head；
（6）, by motion control card, realize frequency lag function leading in the industry, specific power is servo-actuated, duty cycle is servo-actuated pair
The meaning bigger of pulse welding.
It should be noted that above-mentioned each technical characteristic continues to be mutually combined, the various embodiments not being enumerated above are formed,
It is accordingly to be regarded as the scope of the utility model specification record；It also, for those of ordinary skills, can be according to above stating
It is bright to be improved or converted, and all these modifications and variations should all belong to the protection model of the appended claims for the utility model
It encloses.
Claims (10)
1. a kind of laser welding system based on CCD vision monitorings, including laser-beam welding machine, workbench, charging tray system, feature
It is：Further include control system；
The control system includes automatic control device and the monitoring device for monitoring above equipment working condition；
The laser-beam welding machine includes the collimation focusing head being located on all-directional rotation component, CCD units, laser and makes laser
Bonding machine is on the table along the moving mechanism of three-axis moving；The laser is connected by optical fiber with the collimation focusing head；
The CCD units are used to position the weld information automatic identification of workpiece and weld information are transmitted to automatic control device；
The outer wall of the collimation focusing head is equipped with circulatory mediator cooling component；
The charging tray system include charging tray, for driving charging tray rotating device that the charging tray rotates in the horizontal direction, for driving
The charging tray is moved along X-axis or the charging tray turnover device and charging tray frame of Y-axis overturning.
2. according to a kind of laser welding system based on CCD vision monitorings described in claim 1, it is characterised in that：It is described
Automatic control device includes automation control module, automation control circuit and industrial personal computer；The automation control module leads to
Cross automation control circuit and industry control mechatronics；The industrial personal computer includes the motion control card that above equipment is controlled to work
With for extracting and analyze the detection program module of workpiece weld information and human-computer interaction interface.
3. according to a kind of laser welding system based on CCD vision monitorings described in claim 2, it is characterised in that：It is described
Detecting program module includes image receiving unit, image pre-processing unit, picture position adjustment unit, object-recognition unit, mesh
What mark extraction unit and the weld information of standard were compared stores up according to unit, the target for weld information to be stored
Memory cell, target abnormal marking unit and target abnormal alarm unit.
4. according to a kind of laser welding system based on CCD vision monitorings described in claim 1, it is characterised in that：It is described
Monitoring device includes camera part, imaging sensor, concurrent for receive each equipment working condition image after shooting
The radio receiving transmitting module that send, for being controlled the camera part and imaging sensor and video pictures handled
Control centre, monitor and the warning device of distribution.
5. according to a kind of laser welding system based on CCD vision monitorings described in claim 4, it is characterised in that：It is described
Control centre can be SRD-1671P hard disk video recorder.
6. according to a kind of laser welding system based on CCD vision monitorings described in claim 1, it is characterised in that：It is described
CCD units include CCD camera, ccd sensor and high brightness detection light source.
7. according to a kind of laser welding system based on CCD vision monitorings described in claim 1, it is characterised in that：It is described
Circulatory mediator cooling component include interlayer, into fluid hose, go out fluid hose, solenoid valve and circulatory mediator driving device；The influent stream
Body pipe and it is described go out fluid hose communicate, and be each provided on the inside of interlayer, the circulatory mediator driving device passes through solenoid valve and influent stream
Circulatory mediator is transported in interlayer by body pipe, is exported from fluid hose is gone out.
8. according to a kind of laser welding system based on CCD vision monitorings described in claim 1, it is characterised in that：It is described
Charging tray frame is square groove body, and the charging tray turnover device is located at the one side of the charging tray frame.
9. according to a kind of laser welding system based on CCD vision monitorings described in claim 1, it is characterised in that：It is described
Charging tray turnover device includes upset motor, overturning shaft coupling, overturning telescopic element；The output terminal of the upset motor passes through described
Overturning shaft coupling is connected with the fixing end of the overturning telescopic element, and the movable end of the overturning telescopic element passes through the charging tray
The side plate of frame is flexibly connected with the charging tray.
10. according to a kind of laser welding system based on CCD vision monitorings described in claim 1, it is characterised in that：It is described
Charging tray is equipped with multi-functional clamp；The multi-functional clamp is equipped with horizontal extension part and makes multi-functional clamp horizontal along its supporting point
The revolving part of rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721151120.7U CN207372499U (en) | 2017-09-09 | 2017-09-09 | A kind of laser welding system based on CCD vision monitorings |
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| CN201721151120.7U CN207372499U (en) | 2017-09-09 | 2017-09-09 | A kind of laser welding system based on CCD vision monitorings |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623147A (en) * | 2018-12-26 | 2019-04-16 | 宁波保税区艾尔希汽车有限公司 | A kind of gas generator laser welding control method and system |
| CN110871317A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and warning method and device thereof |
| CN111203654A (en) * | 2020-01-15 | 2020-05-29 | 苏州德创测控技术咨询有限公司 | Laser welding track tracking and monitoring system |
-
2017
- 2017-09-09 CN CN201721151120.7U patent/CN207372499U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871317A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and warning method and device thereof |
| CN109623147A (en) * | 2018-12-26 | 2019-04-16 | 宁波保税区艾尔希汽车有限公司 | A kind of gas generator laser welding control method and system |
| CN111203654A (en) * | 2020-01-15 | 2020-05-29 | 苏州德创测控技术咨询有限公司 | Laser welding track tracking and monitoring system |
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