CN211465260U - Automatic welding system based on induction head automatic point finding tracking - Google Patents
Automatic welding system based on induction head automatic point finding tracking Download PDFInfo
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- CN211465260U CN211465260U CN201921866107.9U CN201921866107U CN211465260U CN 211465260 U CN211465260 U CN 211465260U CN 201921866107 U CN201921866107 U CN 201921866107U CN 211465260 U CN211465260 U CN 211465260U
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Abstract
The utility model discloses an automatic welding system based on induction head automatic point finding tracking, which comprises a tool platform, wherein a gantry moving beam frame is arranged above the tool platform, the length direction of the gantry moving beam frame is parallel along the horizontal X direction, and the automatic welding system also comprises a gantry driving device which can drive the gantry moving beam frame to translate along the horizontal Y direction; the gantry moving beam frame is provided with a left sliding block and a right sliding block which can slide along the length direction; a left welding gun support and a right welding gun support which can do lifting motion are respectively arranged on the left sliding block and the right sliding block; the utility model discloses a realize that real-time induction of inductive head trails and open and weld the coordinate to realized the automatic welding requirement to the railing.
Description
Technical Field
The utility model belongs to the welding system field.
Background
At present, manual welding is adopted for welding the railing structure, so that the labor cost is high, the efficiency is low, and the quality is poor; the robot welding is directly programmed, due to the fact that the size is too large, programming workload is large, and in the welding process, the handrail can deform slightly and easily deviates from a welding path, and therefore the robot welding is not suitable for a one-time programming welding mode.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects existing in the prior art, the utility model provides an automatic welding method based on the induction head automatic point finding tracking, which can automatically find the welding points for tracking.
The technical scheme is as follows: in order to achieve the above object, the utility model discloses an install the inductive head in welding system's welding execution end synchronization, before carrying out the welding, the inductive head is along with welding execution end synchronization displacement, and the inductive head is along with the in-process tracking target of welding execution end synchronization displacement plays the solder joint, and then confirms the coordinate that the target played the solder joint, then control welding execution end welds according to the coordinate of tracking.
The automatic welding method based on the induction head automatic point finding tracking comprises the following steps:
firstly, positioning a plurality of railing vertical rods which are parallel at equal intervals and parallel along the horizontal X direction on a tooling platform, and simultaneously positioning a left railing transverse rod and a right railing transverse rod which are parallel along the horizontal Y direction on the tooling platform;
in the process of tooling, two ends of each railing upright post are respectively and vertically connected with a left railing transverse rod and a right railing transverse rod;
the joint of each railing upright post and the left railing transverse rod is a left welding point, and the welding start coordinate of a left welding gun at the left welding point is X, Y;
the joint of each railing upright post and the right railing transverse rod is a right welding point, and the welding start coordinate of a right welding gun at the right welding point is X, Y;
both the start-up coordinate X, Y and the start-up coordinate X, Y are unknown at the initial state;
secondly, controlling the gantry moving cross beam frame to perform translational displacement along the Y direction, and simultaneously performing translational displacement along the Y direction on the left welding gun support and the right welding gun support along with the gantry moving cross beam frame; only the fourth induction head is in a working state;
when a fourth induction head on the right welding gun support induces the edge of the upright rod of the first railing in the horizontal Y-direction translation process, the fourth induction head induces the specific position of Y, and the system records the specific numerical value of Y; at the moment, the operation of the gantry moving beam frame is paused;
then a second induction head on the left welding gun support is started, the second induction head on the left welding gun support and the left welding gun are driven to translate along the Y direction through a lead screw slider fine adjustment mechanism, when the second induction head also induces the edge of the upright rod of the first railing in the horizontal Y direction translation process, the second induction head induces the specific position of the Y, and the system records the specific numerical value of the Y;
step three, opening the first induction head and the third induction head, and controlling the left welding gun support to translate leftwards along the horizontal X direction; controlling the right welding gun support to translate rightwards along the horizontal X direction;
at the moment, the first induction head translates leftwards along the horizontal X direction along with the left welding gun support, and the third induction head translates rightwards along the horizontal X direction along with the right welding gun support;
when the first induction head induces the edge of the left handrail cross rod in the process of leftward translation along the horizontal X direction, the first induction head induces the specific position of X, and the system records the specific numerical value of X;
when the third induction head induces the edge of the right handrail cross rod in the process of translating rightwards along the horizontal X direction, the third induction head induces the specific position of X, and the system records the specific numerical value of X;
so far, the start welding coordinate of the left welding gun is X, Y, and the start welding coordinate of the right welding gun is X, Y, which are accurately tracked by the four induction heads;
fourthly, controlling the Y-direction position of the gantry moving cross beam frame and the X-direction positions of the left slider and the right slider to enable the left welding gun to reach a position with a welding start coordinate of X, Y for automatic welding and enable the right welding gun to reach a position with a welding start coordinate of X, Y for automatic welding;
thus, the welding of the two ends of the first handrail vertical rod is completed;
and step five, referring to the step two to the step four, welding the two ends of the vertical rods of all the railings is completed in sequence.
The automatic welding system based on the induction head automatic point finding and tracking comprises a tool platform, a gantry moving beam frame and a gantry driving device, wherein a gantry moving beam frame is arranged above the tool platform, the length direction of the gantry moving beam frame is parallel along the horizontal X direction, and the gantry driving device can drive the gantry moving beam frame to move horizontally along the horizontal Y direction;
the gantry moving beam frame is provided with a left sliding block and a right sliding block which can slide along the length direction; a left welding gun support and a right welding gun support which can do lifting motion are respectively arranged on the left sliding block and the right sliding block;
the lower end of the left welding gun bracket is provided with a left welding gun, a first induction head and a second induction head; the lower end of the right welding gun support is provided with a right welding gun, a third induction head and a fourth induction head; and the left welding gun, the right welding gun, the first induction head, the second induction head, the third induction head and the fourth induction head all correspond to a workpiece of a tool on the tool platform.
Furthermore, a plurality of railing vertical rods which are parallel at equal intervals are positioned on the tooling platform, and the railing vertical rods are parallel along the horizontal X direction; the tooling platform is also provided with two railing cross rods which are parallel along the horizontal Y direction;
the two railing cross rods of the tool on the tool platform are respectively a left railing cross rod and a right railing cross rod; two ends of each railing upright post are respectively and vertically connected with a left railing cross rod and a right railing cross rod;
the welding point is treated for the left side in each railing pole setting with the junction of left railing horizontal pole, and the welding point is treated for the right side in each railing pole setting with the junction of right railing horizontal pole.
Furthermore, a first lead screw motor and a second lead screw motor are respectively installed at the left end and the right end of the gantry moving cross beam frame, and the first lead screw motor and the second lead screw motor are respectively connected with the left sliding block and the right sliding block through lead screw driving, so that the left sliding block and the right sliding block respectively move in a translation mode along the length direction of the gantry moving cross beam frame.
Furthermore, a left lifting cylinder and a right lifting cylinder are respectively arranged on the left sliding block and the right sliding block, and the left lifting cylinder and the right lifting cylinder can respectively drive the left welding gun support and the right welding gun support to do up-and-down lifting movement.
Furthermore, two ends of the gantry moving crossbeam frame are respectively connected with a left support column and a right support column which extend downwards, the lower ends of the left support column and the right support column are respectively provided with a left translation seat and a right translation seat, two sides of the tooling platform are respectively symmetrically provided with a left guide rail and a right guide rail which extend along the horizontal Y direction, the left translation seat and the right translation seat are respectively installed on the left guide rail and the right guide rail, the gantry moving crossbeam frame further comprises a left translation seat starter and a right translation seat driver, and the left translation seat starter and the right translation seat driver respectively drive the left translation seat and the right translation seat to respectively translate and displace along the length directions of the left guide rail and the right guide rail.
The third screw rod motor is in driving connection with a screw rod sliding block fine adjustment mechanism, and a sliding block on the screw rod sliding block fine adjustment mechanism can be subjected to fine adjustment along the horizontal Y direction; and the second induction head and the left welding gun are both arranged on a sliding block of the screw rod sliding block fine adjustment mechanism, and the second induction head and the left welding gun finely adjust the horizontal position along the Y direction along with the sliding block on the screw rod sliding block fine adjustment mechanism.
Furthermore, the first inductive head, the second inductive head, the third inductive head and the fourth inductive head are all photoelectric inductive heads.
Has the advantages that: the utility model discloses a realize that real-time induction of inductive head trails and open and weld the coordinate to realized the automatic welding requirement to the railing.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus;
FIG. 2 is a top view of the work platform;
FIG. 3 is a schematic structural view of a gantry moving beam frame;
fig. 4 is a top view of the lower portion of the torch support.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The structure of the automatic welding system based on the induction head automatic point finding tracking is described in the accompanying figures 1 to 4;
the gantry type automatic assembling machine comprises a tooling platform 100, a gantry moving cross beam frame 103 is arranged above the tooling platform 100, the length direction of the gantry moving cross beam frame 103 is parallel along the horizontal X direction, and the gantry type automatic assembling machine also comprises a gantry driving device, wherein the gantry driving device can drive the gantry moving cross beam frame 103 to translate along the horizontal Y direction;
the gantry moving beam frame 103 is provided with a left slide block 104.1 and a right slide block 104.2 which can slide along the length direction; the left slider 104.1 and the right slider 104.2 are respectively provided with a left welding gun bracket 28 and a right welding gun bracket 29 which can do lifting movement;
the lower end of the left welding gun bracket 28 is provided with a left welding gun 12, a first induction head 11 and a second induction head 10; the lower end of the right welding gun bracket 29 is provided with a right welding gun 6, a third induction head 5 and a fourth induction head 7; the left welding gun 12, the right welding gun 6, the first induction head 11, the second induction head 10, the third induction head 5 and the fourth induction head 7 correspond to a workpiece of a tool on the tool platform 100.
A plurality of railing vertical rods 20 which are arranged in parallel at equal intervals are positioned on the tooling platform 100, and all the railing vertical rods 20 are parallel along the horizontal X direction; the tooling platform 100 is also provided with two rail cross bars 22 which are positioned and machined in parallel along the horizontal Y direction;
the two railing cross bars 22 on the tooling platform 100 are respectively a left railing cross bar 22.1 and a right railing cross bar 22.2; the two ends of each railing upright post 20 are respectively and vertically connected with a left railing cross rod 22.1 and a right railing cross rod 22.2;
the joint of each handrail upright post 20 and left handrail cross rod 22.1 is left and waits the welding point, and the joint of each handrail upright post 20 and right handrail cross rod 22.2 is right and waits the welding point.
The left end and the right end of the gantry moving cross beam frame 103 are respectively provided with a first lead screw motor 13 and a second lead screw motor 2, the first lead screw motor 13 and the second lead screw motor 2 are respectively connected with a left slide block 104.1 and a right slide block 104.2 through lead screw driving, so that the left slide block 104.1 and the right slide block 104.2 respectively move in a translation manner along the length direction of the gantry moving cross beam frame 103.
The left slider 104.1 and the right slider 104.2 are respectively provided with a left lifting cylinder 26 and a right lifting cylinder 27, and the left lifting cylinder 26 and the right lifting cylinder 27 can respectively drive the left welding gun support 28 and the right welding gun support 29 to move up and down.
The two ends of the gantry moving crossbeam frame 103 are respectively connected with a left supporting column 101.1 and a right supporting column 101.2 which extend downwards, the lower ends of the left supporting column 101.1 and the right supporting column 101.2 are respectively provided with a left translation seat 107.1 and a right translation seat 107.2, the two sides of the tooling platform 100 are respectively symmetrically provided with a left guide rail 102.1 and a right guide rail 102.2 which extend along the horizontal Y direction, the left translation seat 107.1 and the right translation seat 107.2 are respectively installed on the left guide rail 102.1 and the right guide rail 102.2, the gantry moving crossbeam frame further comprises a left translation seat actuator 14 and a right translation seat driver 3, and the left translation seat actuator 14 and the right translation seat driver 3 respectively drive the left translation seat 107.1 and the right translation seat 107.2 to respectively perform translation displacement along the length directions of the left guide rail 102.1 and the right guide rail.
The left welding gun support 28 is also provided with a screw rod sliding block fine adjustment mechanism (not shown in the attached drawings) extending along the horizontal Y direction, and further comprises a third screw rod motor 8, the third screw rod motor 8 is in driving connection with the screw rod sliding block fine adjustment mechanism, and a sliding block on the screw rod sliding block fine adjustment mechanism can be subjected to fine adjustment along the horizontal Y direction under the driving of the third screw rod motor 8; the second induction head 10 and the left welding gun 12 are both installed on a sliding block of the screw sliding block fine adjustment mechanism, and the second induction head 10 and the left welding gun 12 finely adjust the horizontal position along the Y direction along with the sliding block on the screw sliding block fine adjustment mechanism.
The first sensor 11, the second sensor 10, the third sensor 5 and the fourth sensor 7 of this embodiment are all photoelectric sensors, the photoelectric sensors of this embodiment are reflective photoelectric switches, and are integrated assemblies composed of infrared transmitting tubes and receiving tubes, and are simple active photoelectric sensors, and the working principle is that infrared light is emitted by the transmitting tubes, reflected by a measured object and received by the infrared receiving tubes in the assemblies, so as to output sensing signals; it specifically adopts: reflective photoelectric switch/sensor head, brand: EVERLIGHT/hundred million lights, model number: ITR-20001; detecting vertically downwards;
the automatic welding method and the working principle based on the induction head automatic point finding tracking as shown in the attached figures 1 to 4 comprise the following steps:
the induction head is synchronously arranged at the welding execution end of the welding system, before welding is executed, the induction head synchronously displaces along with the welding execution end, the induction head tracks the target welding start point in the synchronous displacement process along with the welding execution end, the coordinate of the target welding start point is further determined, and then the welding execution end is controlled to weld according to the tracked coordinate.
The specific tracking process comprises the following steps;
firstly, positioning a plurality of railing vertical rods 20 which are parallel in the horizontal X direction and are equidistantly arranged on a tooling platform 100, and simultaneously positioning a left railing cross rod 22.1 and a right railing cross rod 22.2 which are parallel in the horizontal Y direction on the tooling platform 100;
in the process of tooling, two ends of each railing upright post 20 are respectively and vertically connected with a left railing cross rod 22.1 and a right railing cross rod 22.2;
the joint of each railing upright post 20 and the left railing cross bar 22.1 is a left welding point, and the welding start coordinates of the left welding gun 12 at the left welding point are X1 and Y1;
the joint of each railing upright post 20 and the right railing cross rod 22.2 is a right welding point, and the start welding coordinates of a right welding gun 6 at the right welding point are X2 and Y2;
the welding start coordinates X1 and Y1 and the welding start coordinates X2 and Y2 are unknown states in the initial state;
secondly, controlling the gantry moving cross beam frame 103 to perform translational displacement along the Y direction, and simultaneously performing translational displacement along the Y direction by the left welding gun support 28 and the right welding gun support 29 along with the gantry moving cross beam frame 103; only the fourth inductive head 7 is in a working state at the moment;
when the fourth induction head 7 on the right welding gun bracket 29 induces the edge of the first handrail upright 20 in the horizontal Y direction translation process, the fourth induction head 7 induces the specific position of Y2, and the system records the specific value of Y2; at this time, the operation of the gantry moving beam frame 103 is suspended;
then, a second induction head 10 on the left welding gun support 28 is started, the lead screw slider fine adjustment mechanism drives the second induction head 10 on the left welding gun support 28 and the left welding gun 12 to translate along the Y direction, when the second induction head 10 also induces the edge of the first rail upright 20 in the horizontal Y direction translation process, the second induction head 10 induces the specific position of Y1, and the system records the specific numerical value of Y1;
(theoretically, Y1 and Y2 should be the same in value, so that the induction of Y1 is not needed after Y2 is obtained, but in the actual operation process, because the accuracy of the tooling process of each upright 20 is not high, the upright 20 is sometimes inclined, so that Y1 and Y2 are possibly unequal in the actual process, and therefore, the Y1 and Y2 can be tracked independently and more stably, and the welding accuracy is improved)
Step three, opening the first induction head 11 and the third induction head 5, and controlling the left welding gun support 28 to translate leftwards along the horizontal X direction; controlling the right welding gun support 29 to translate rightwards along the horizontal X direction;
at the moment, the first induction head 11 translates leftwards along the horizontal X direction along with the left welding gun bracket 28, and the third induction head 5 translates rightwards along the horizontal X direction along with the right welding gun bracket 29;
when the first sensing head 11 senses the edge of the left handrail cross rod 22.1 in the process of leftward translation of the first sensing head 11 along the horizontal X direction, the first sensing head 11 senses the specific position of X1, and the system records the specific numerical value of X1;
when the third induction head 5 induces the edge of the right handrail cross rod 22.2 in the process of translating to the right along the horizontal X direction, the third induction head 5 induces the specific position of X2, and the system records the specific numerical value of X2;
up to this point, the start welding coordinates of the left welding gun 12, namely X1 and Y1, and the start welding coordinates of the right welding gun 6, namely X2 and Y2, are accurately tracked by the four induction heads;
fourthly, the left welding gun 12 reaches the positions with the welding start coordinates of X1 and Y1 to carry out automatic welding, and the right welding gun 6 reaches the positions with the welding start coordinates of X2 and Y2 to carry out automatic welding by controlling the Y-direction position of the gantry moving beam frame 103 and the X-direction positions of the left sliding block 104.1 and the right sliding block 104.2;
thus, the welding of the two ends of the first handrail upright rod 20 is completed;
and step five, referring to the step two to the step four, welding the two ends of all the railing vertical rods 20 is completed in sequence.
The above is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (7)
1. Automatic weld system based on automatic point tracking is looked for to inductive head, its characterized in that: the gantry type automatic assembling machine comprises a tooling platform (100), a gantry moving cross beam frame (103) is arranged above the tooling platform (100), the length direction of the gantry moving cross beam frame (103) is parallel along the horizontal X direction, and the gantry type automatic assembling machine also comprises a gantry driving device, wherein the gantry driving device can drive the gantry moving cross beam frame (103) to move horizontally along the horizontal Y direction;
a left sliding block (104.1) and a right sliding block (104.2) which can slide along the length direction are arranged on the gantry moving beam frame (103); a left welding gun bracket (28) and a right welding gun bracket (29) which can do lifting motion are respectively arranged on the left sliding block (104.1) and the right sliding block (104.2);
the lower end of the left welding gun bracket (28) is provided with a left welding gun (12), a first induction head (11) and a second induction head (10); the lower end of the right welding gun bracket (29) is provided with a right welding gun (6), a third induction head (5) and a fourth induction head (7); the left welding gun (12), the right welding gun (6), the first induction head (11), the second induction head (10), the third induction head (5) and the fourth induction head (7) correspond to a workpiece of a tool on the tool platform (100).
2. The automatic welding system based on the induction head automatic point finding tracking as claimed in claim 1, characterized in that: a plurality of railing vertical rods (20) which are parallel at equal intervals are positioned on the tooling platform (100), and the railing vertical rods (20) are parallel along the horizontal X direction; the tooling platform (100) is also provided with two railing cross rods (22) which are parallel along the horizontal Y direction in a positioning tool;
the two railing cross rods (22) mounted on the tooling platform (100) are respectively a left railing cross rod (22.1) and a right railing cross rod (22.2); two ends of each railing upright post (20) are respectively and vertically connected with a left railing cross rod (22.1) and a right railing cross rod (22.2);
the joint of each railing upright post (20) and the left railing cross rod (22.1) is a left welding point to be welded, and the joint of each railing upright post (20) and the right railing cross rod (22.2) is a right welding point to be welded.
3. The automatic welding system based on automatic induction head point finding tracking according to claim 2, characterized in that: the left end and the right end of the gantry moving cross beam frame (103) are respectively provided with a first lead screw motor (13) and a second lead screw motor (2), the first lead screw motor (13) and the second lead screw motor (2) are respectively connected with the left slider (104.1) and the right slider (104.2) through lead screw driving, and the left slider (104.1) and the right slider (104.2) are enabled to respectively translate along the length direction of the gantry moving cross beam frame (103).
4. The automatic welding system based on automatic induction head point finding tracking of claim 3, characterized in that: and a left lifting cylinder (26) and a right lifting cylinder (27) are respectively arranged on the left sliding block (104.1) and the right sliding block (104.2), and the left lifting cylinder (26) and the right lifting cylinder (27) can respectively drive the left welding gun support (28) and the right welding gun support (29) to do up-and-down lifting motion.
5. The automatic welding system based on the induction head automatic point finding tracking as claimed in claim 4, characterized in that: the gantry moving cross beam frame is characterized in that two ends of the gantry moving cross beam frame (103) are respectively connected with a left supporting column (101.1) and a right supporting column (101.2) which extend downwards, the lower ends of the left supporting column (101.1) and the right supporting column (101.2) are respectively provided with a left translation seat (107.1) and a right translation seat (107.2), two sides of the tooling platform (100) are respectively symmetrically provided with a left guide rail (102.1) and a right guide rail (102.2) which extend in the horizontal Y direction, the left translation seat (107.1) and the right translation seat (107.2) are respectively installed on the left guide rail (102.1) and the right guide rail (102.2), the gantry moving cross beam frame further comprises a left translation seat actuator (14) and a right translation seat driver (3), and the left translation seat actuator (14) and the right translation seat driver (3) respectively drive the left translation seat (107.1) and the right translation seat (107.2) to respectively displace along the length directions of the left guide rail (102.1) and the right guide rail (102.2.
6. The automatic welding system based on automatic induction head point finding tracking of claim 5, characterized in that: the left welding gun support (28) is also provided with a screw rod sliding block fine adjustment mechanism extending along the horizontal Y direction, and the left welding gun support further comprises a third screw rod motor (8), the third screw rod motor (8) is in driving connection with the screw rod sliding block fine adjustment mechanism, and a sliding block on the screw rod sliding block fine adjustment mechanism can be finely adjusted along the horizontal Y direction under the driving of the third screw rod motor (8); and the second induction head (10) and the left welding gun (12) are both installed on the sliding block of the screw rod sliding block fine adjustment mechanism, and the second induction head (10) and the left welding gun (12) are along with the sliding block on the screw rod sliding block fine adjustment mechanism to finely adjust the horizontal position along the Y direction.
7. The automatic welding system based on automatic induction head point finding tracking of claim 6, characterized in that: the first induction head (11), the second induction head (10), the third induction head (5) and the fourth induction head (7) are all photoelectric induction heads.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921866107.9U CN211465260U (en) | 2019-11-01 | 2019-11-01 | Automatic welding system based on induction head automatic point finding tracking |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921866107.9U CN211465260U (en) | 2019-11-01 | 2019-11-01 | Automatic welding system based on induction head automatic point finding tracking |
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| CN211465260U true CN211465260U (en) | 2020-09-11 |
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| CN201921866107.9U Active CN211465260U (en) | 2019-11-01 | 2019-11-01 | Automatic welding system based on induction head automatic point finding tracking |
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