CN211305268U

CN211305268U - Laser tracking double-machine-head tank welding special machine

Info

Publication number: CN211305268U
Application number: CN201920946635.9U
Authority: CN
Inventors: 龙燕
Original assignee: Chengdu Junnover Visual Intelligent Technology Co ltd
Current assignee: Chengdu kanop Robot Technology Co.,Ltd.
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2020-08-21
Anticipated expiration: 2029-06-21

Abstract

The utility model discloses a laser tracking double-head tank welding special machine, which comprises a welding machine and a welding gun connected with the welding machine; the welding gun motion device also comprises a motion module used for driving the welding gun to move vertically and horizontally; the motion module comprises a horizontal rail, and two transverse vehicles capable of moving back and forth along the horizontal rail are mounted on the horizontal rail; a vertical rail which is vertically arranged is fixed on the transverse trolley, a longitudinal trolley which can move back and forth along the vertical rail is installed on the vertical rail, and a support is fixed on the longitudinal trolley; the welding gun is connected to the bracket; the bracket is also provided with a laser sensor for detecting welding seams; the welding machine, the welding gun, the motion module and the laser sensor are all connected with the controller. The special laser tracking double-head tank welding machine with the structure can improve the welding efficiency by one time through the cooperative work of the two welding guns. The whole process of the automatic tracking system is automatically tracked, manual intervention is not needed, and the labor intensity of workers is reduced. And the use mode is simple, and the maintenance cost is low.

Description

Laser tracking double-machine-head tank welding special machine

Technical Field

The utility model relates to a special welding machine for welding jar body.

Background

The welding of the existing tank body mainly adopts the following two modes. Firstly, the mode of mechanical height unilateral tracking and manual left-right adjustment. In the welding process, the welding gun is manually adjusted in the whole process, the position of the welding gun is observed in real time, in addition, only a single side can be welded, the efficiency is not high, and the labor intensity of workers is high. And the other is a mode of single robot and laser tracking. Although the mode can realize full-automatic welding, the use cost is high, certain technical requirements are required on users, the maintenance cost is high, and only a single welding line can be welded.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a laser tracking duplex head jar body welding special plane, whole automatic tracking need not artifical intervention.

For solving the above technical problem, the technical scheme of the utility model is that: a laser tracking double-head tank body special welding machine comprises a welding machine and a welding gun connected with the welding machine; the welding gun motion device also comprises a motion module used for driving the welding gun to move vertically and horizontally; the movement module comprises a horizontally arranged cross beam, and two left and right movement shafts which can move back and forth along the cross beam are arranged on the cross beam; an up-and-down moving shaft which is vertically arranged and can move up and down is fixed on the left-and-right moving shaft, and a bracket is fixed on the up-and-down moving shaft; the welding gun is connected to the bracket; the bracket is also provided with a laser sensor for detecting welding seams; the welding machine, the welding gun, the motion module and the laser sensor are all connected with the controller.

As an improvement, the transverse trolley and the longitudinal trolley are driven by servo motors to move, and the servo motors are connected with a controller.

As an improvement, the tank body further comprises an external roller shaft for driving the tank body to rotate, and the external roller shaft is driven by a rotating motor.

Preferably, the device further comprises a rotary encoder for acquiring the rotational position information of the tank body, and the rotary encoder is connected with the controller. The photoelectric rotary encoder can convert mechanical quantities such as angular displacement and angular speed of an output shaft into corresponding electric pulses through photoelectric conversion and output the electric pulses in digital quantity (REP).

As an improvement, the system also comprises an upper computer used for inputting instructions by a user, and the upper computer is connected with the controller. The upper computer is a computer capable of directly sending out control commands, generally a PC/host computer/master computer/upper computer, and displays various signal changes on a screen.

Preferably, the laser sensor is connected with the controller through an industrial personal computer. An Industrial Personal Computer (IPC) is a general name for a tool that detects and controls a production process, electromechanical devices, and process equipment by using a bus structure.

The utility model discloses an useful part lies in: the special laser tracking double-head tank welding machine with the structure can improve the welding efficiency by one time through the cooperative work of the two welding guns. The whole process of the automatic tracking system is automatically tracked, manual intervention is not needed, and the labor intensity of workers is reduced. And the use mode is simple, and the maintenance cost is low.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic connection diagram of the utility model.

Fig. 3 is an operation interface on the upper computer.

The labels in the figure are: the device comprises a beam 1, a left-right movement shaft 2, a servo motor 3, an up-down movement shaft 4, a servo motor 5, a bracket 6, a welding gun 7 and a laser sensor 8.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the specific embodiments.

As shown in fig. 1-3, the present invention includes a welding machine and a welding gun 7 connected to the welding machine; the welding gun device also comprises a movement module for driving the welding gun 7 to move vertically and horizontally; the motion module includes the crossbeam 1 that the level set up, install two left and right sides motion axle 2 that can follow crossbeam 1 back and forth movement on the crossbeam 1, left and right sides motion axle 2 is driven by servo motor 3. An up-and-down motion shaft 4 which is vertically arranged and can move up and down is fixed on the left-and-right motion shaft 2, and the up-and-down motion shaft 4 is driven by a servo motor 5. A bracket 6 is fixed on the up-and-down motion shaft 2; the welding gun 7 is connected to the bracket 6; the bracket 6 is also provided with a laser sensor 8 for detecting a welding seam; the welding machine, the welding gun 7, the motion module and the laser sensor 8 are all connected with the controller.

The tank body is characterized by further comprising an external roller shaft used for driving the tank body to rotate, and the external roller shaft is driven by a rotating motor. Still including being used for acquireing jar body rotational position information's rotary encoder, rotary encoder is connected with the controller. Because the pivoted device of drive jar body is prior art in this field, the utility model discloses in no longer describe. It should be noted that the present invention adds a rotary encoder to the existing device to obtain the rotational position information of the tank.

The device comprises an upper computer used for inputting instructions by a user, wherein the upper computer is connected with a controller. The upper computer is provided with an operation interface for inputting control parameters through the operation interface.

The laser sensor is connected with the controller through an industrial personal computer. The laser tracking system realizes weld joint detection, trajectory planning and motion control.

The utility model discloses a controller chooses for use the PLC controller that supports MODBUS TCP agreement.

The connection of example 1 is shown in FIG. 2. This embodiment includes two welders and two welder that are connected with two welders respectively. The beam is provided with two left and right movement shafts. The two left and right movement axes are driven by a servo motor 1 and a servo motor 3. Two up-and-down motion shafts are respectively arranged on the two left-and-right motion shafts. And the two up-and-down motion shafts are respectively driven by a servo motor 2 and a servo motor 4. The two welding guns are respectively fixed on the two up-and-down motion shafts through a bracket, and the laser sensor 1 and the laser sensor 2 are also respectively arranged on the two up-and-down motion shafts.

The controller is directly connected with the servo motor, the welding machine, the welding gun and the rotating motor and is used for controlling the equipment to work. And the controller is connected with the two industrial personal computers and the upper computer through the switch. The two laser sensors are directly connected with the industrial personal computer.

When the device is used, a user sets parameters through the upper computer. And inputting a control command, and sending the control command to the industrial personal computer by the upper computer through the Ethernet.

The laser tracking identifies the position of the welding seam to obtain a height position (Z) and a horizontal position (X), and the tracking system reads the measuring position (Y) of the tank body through an encoder. A series of 3D weld data (X, Y, Z) is thus obtained. And the industrial personal computer processes the data and calculates a welding seam track. And then a PLC sends a motion control command to achieve the purpose that the welding wire sharp point follows the welding seam.

Two sets of systems work cooperatively, 2 sets of systems share one PLC controller, one encoder and one rotating motor, so that one set of systems is required to be used as a master controller, and the other set of systems is required to be used as a slave controller. Control group 1 is selected as the master control system, and control group 2 is selected as the slave system. Once one system stops working, the other system also needs to stop the workpiece immediately to ensure that the workpiece is not damaged.

The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the spirit and scope of the invention, and such modifications and enhancements are intended to be within the scope of the invention.

Claims

1. A laser tracking double-head tank body special welding machine comprises a welding machine and a welding gun connected with the welding machine; the method is characterized in that: the welding gun motion device also comprises a motion module used for driving the welding gun to move vertically and horizontally; the movement module comprises a horizontally arranged cross beam, and two left and right movement shafts which can move back and forth along the cross beam are arranged on the cross beam; an up-and-down moving shaft which is vertically arranged and can move up and down is fixed on the left-and-right moving shaft, and a bracket is fixed on the up-and-down moving shaft; the welding gun is connected to the bracket; the bracket is also provided with a laser sensor for detecting welding seams; the welding machine, the welding gun, the motion module and the laser sensor are all connected with the controller.

2. The special laser tracking machine for welding the double-head tank body according to claim 1, which is characterized in that: the left and right movement shafts and the up and down movement shafts are driven by a servo motor to move, and the servo motor is connected with the controller.

3. The special laser tracking machine for welding the double-head tank body according to claim 1, which is characterized in that: the tank body is characterized by further comprising an external roller shaft used for driving the tank body to rotate, and the external roller shaft is driven by a rotating motor.

4. The laser tracking double-head special tank welding machine according to claim 3, characterized in that: still including being used for acquireing jar body rotational position information's rotary encoder, rotary encoder is connected with the controller.

5. The special laser tracking machine for welding the double-head tank body according to claim 1, which is characterized in that: the system further comprises an upper computer used for inputting instructions by a user, and the upper computer is connected with the controller.

6. The special laser tracking machine for welding the double-head tank body according to claim 1, which is characterized in that: the laser sensor is connected with the controller through an industrial personal computer.

7. The laser tracking double-head can body welding special machine according to any one of claims 1-6, characterized in that: the controller is a PLC controller supporting MODBUS TCP.