CN213531362U - Robot and automatic seam searching welding device thereof - Google Patents
Robot and automatic seam searching welding device thereof Download PDFInfo
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- CN213531362U CN213531362U CN202022361691.1U CN202022361691U CN213531362U CN 213531362 U CN213531362 U CN 213531362U CN 202022361691 U CN202022361691 U CN 202022361691U CN 213531362 U CN213531362 U CN 213531362U
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Abstract
The utility model discloses a robot and automatic seek seam welding set thereof, automatic seek seam welding set include the welder subassembly, be used for acquireing the visual positioning subassembly of slab band coiled material welding face and excircle position, be used for acquireing the range finding part of distance between welding face and the welder subassembly, the mountable is in the support main part of mechanical arm free end and be used for controlling the controller that the welder subassembly removed to the target location, welder subassembly, range finding part and visual positioning subassembly are all installed in the support main part. The utility model provides an automatic seek seam welding set through the setting of welder subassembly, visual positioning subassembly, range unit and controller, can realize seeking the seam to the automation of slab band coiled material, and then can realize automatic weld, and the device can seek the seam and realize automatic weld to the automatic accurate welding that carries on of different size specification products, not only will liberate the manual work, in addition all there is very big advantage in high efficiency, stability and security.
Description
Technical Field
The utility model relates to a slab band coiled material welding equipment field especially relates to an automatic seek seam welding set. Furthermore, the utility model discloses still relate to a robot including above-mentioned automatic seek seam welding set.
Background
In the transportation process of the plate strip coiled material, in order to avoid the loosening of the plate strip coiled material, the outer periphery and the inner periphery of the plate strip coiled material are generally required to be welded and fixed, so that the scattering risk is reduced.
For the welding of slab band coiled material, generally adopt the mode of seeking the seam and weld, seek seam welding mode among the prior art generally be touch, and two directions through touching the weldment determine the welding seam position promptly, and this mode has certain requirement to the appearance of work piece, is not suitable for uneven slab band coiled material.
In the prior art, when welding the plate strip coil, manual welding is generally adopted, and because the diameter of the plate strip coil is generally 1m to 2m or more, the width is about 2m, the difficulty is very large for manual welding no matter the size or the weight, and the personnel safety of operators is also greatly hidden danger, besides, the welding efficiency and the quality are not stable enough.
Therefore, how to improve the welding efficiency of the plate strip coiled material is a technical problem which needs to be solved by the technical personnel in the field at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an automatic seek seam welding set, this automatic seek seam welding set can realize effectively improving efficiency and security to the automatic seek seam welding of slab band coiled material. Another object of the present invention is to provide a robot including the above automatic seam-searching welding device.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides an automatic seek seam welding set, includes the welder subassembly, is used for obtaining the visual positioning subassembly of slab band coiled material welding face and excircle position, is used for obtaining the welding face with the range finding part of distance between the welder subassembly, mountable support main part at the arm free end and be used for controlling the welder subassembly removes to the controller of target location, the welder subassembly the range finding part with the visual positioning subassembly is all installed support the main part is last.
Preferably, the visual positioning assembly comprises a visual camera and a visual light source, and the visual light source is located at the front end of a lens of the visual camera.
Preferably, the visual positioning assembly is mounted on top of the support body.
Preferably, the visual positioning assembly further comprises a camera fixing seat, the visual camera is mounted on the camera fixing seat, and the camera fixing seat is detachably mounted on the supporting main body.
Preferably, the visual light source is annular, and a lens of the visual camera corresponds to a hollow part of the visual light source.
Preferably, a lightening hole is formed in the middle of the support main body.
Preferably, the distance measuring part is a laser sensor.
Preferably, the welding gun assembly is mounted on a front end of the support body, and the distance measuring part is mounted on a side portion of the support body.
Preferably, the welding gun assembly comprises a supporting seat, a welding gun head and a supporting rod, the supporting seat is located on the supporting main body, one end of the supporting rod is installed on the supporting seat, the other end of the supporting rod extends towards the lower part of the outer side, and the welding gun head is installed at the suspension end of the supporting rod.
The utility model also provides a robot, include the arm and install the above-mentioned automatic seam hunting welding set of arm free end.
The utility model provides an automatic seek seam welding set, include welder subassembly, be used for acquireing the visual positioning subassembly of slab band coiled material face of weld and excircle position, be used for acquireing the face of weld with range unit, the mountable of distance between the welder subassembly are in the support main part of mechanical arm free end and be used for control the welder subassembly removes to the controller of target location, the welder subassembly range unit with visual positioning subassembly all installs support in the main part. The utility model provides an automatic seek seam welding set, through the welder subassembly vision positioning assembly the range finding part and the setting of controller can realize seeking the seam to the automation of slab band coiled material, and then can realize automatic weld, and the device can seek the seam and realize automatic weld to the automatic accurate welding that carries out of different size specification products, not only will liberate the manual work, in addition all there is very big advantage in high efficiency, stability and security.
The utility model provides a robot is equipped with above-mentioned automatic seek seam welding set, because automatic seek seam welding set has above-mentioned technological effect, consequently, the robot that is equipped with this automatic seek seam welding set should also have corresponding technological effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of an automatic seam-searching welding device provided by the present invention;
fig. 2 is a schematic view of a working structure of the robot provided by the present invention;
wherein: an automatic seam-searching welding device-100; a torch assembly-101; a visual camera-102; a visual light source-103; a distance measuring part-104; a support body-105; strip coiled material-200; outer weld seam-201; inner weld-202.
Detailed Description
The core of the utility model is to provide an automatic seek seam welding set, this automatic seek seam welding set can realize effectively improving efficiency and security to the automatic seek seam welding of slab band coiled material. The utility model discloses another core provides a robot including above-mentioned automatic seek seam welding set.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of an automatic seam-searching welding apparatus according to the present invention; fig. 2 is a schematic view of the working structure of the robot provided by the present invention.
In this embodiment, the auto seam-seeking welding apparatus 100 includes a welding torch assembly 101, a visual positioning assembly, a ranging component 104, a support body 105, and a controller.
Wherein, the visual positioning component is used for acquiring the welding surface and the excircle position of the plate strip coiled material 200, the distance measuring component 104 is used for acquiring the distance between the welding surface and the welding gun component 101, the supporting body 105 can be arranged at the free end of the mechanical arm, in the moving process of the mechanical arm, the support main body 105 is driven to move, the controller is used for controlling the welding gun assembly 101 to move to a target position, specifically, the controller obtains the welding surface and the excircle position of the plate strip coiled material 200 through obtaining the visual positioning assembly, and the distance between the welding surface and the welding gun assembly 101, to calculate the moving direction and distance of the welding gun head in the welding gun assembly 101, more specifically, the excircle position of the sheet strip coil 200 moves by the thickness of one sheet strip towards the center of the sheet strip coil 200, i.e., the position of outer weld 201, torch assembly 101, ranging component 104, and the visual positioning assembly are all mounted on support body 105.
Further, the visual positioning assembly is further used for obtaining the inner circle position of the plate strip coiled material 200, the inner circle position of the plate strip coiled material 200 moves by the thickness of one plate strip to the radial outer side of the plate strip coiled material 200, namely the position of the inner welding line 202, and due to the fact that the size of the plate strip coiled material 200 is large, the spiral size deviation of the plate strip can be ignored.
The utility model provides an automatic seek seam welding set 100, through the setting of welder subassembly 101, visual positioning subassembly, range unit 104 and controller, can realize seeking the seam to the automation of slab band coiled material 200, and then can realize automatic weld, the device can seek the seam and realize automatic weld to the automatic accurate welding that carries out of different size specification products, not only will liberate the manual work, in addition at the high efficiency, all has very big advantage in stability and the security.
On the basis of the above embodiments, the visual positioning assembly includes a visual camera 102 and a visual light source 103, a visual lens is arranged in the visual camera 102, the visual light source 103 is located at the front end of the lens of the visual camera 102, and provides sufficient light source for the visual camera 102, so as to obtain clearer image information, and accurately position the outer diameter and the inner diameter of the strip coil 200, the radius of the outer weld 201 is determined by subtracting the thickness of the strip from the outer diameter of the strip coil 200, and the radius of the inner weld 202 is determined by adding the thickness of the strip to the inner diameter of the strip coil 200. The arrangement of the visual positioning assembly can position the outer diameter of the plate strip coiled material 200 placed on the V-shaped frame, so that the equipment can be automatically suitable for coiled material products with different outer diameters.
Preferably, the visual positioning assembly is mounted on top of the support body 105, so that the visual camera 102 is less obstructed and the positioning effect is more accurate.
On the basis of the above embodiments, the visual positioning assembly further includes a camera fixing base, the visual camera 102 is mounted on the camera fixing base, and the camera fixing base is detachably mounted on the supporting body 105, preferably, is connected by a bolt, so as to be conveniently detached.
On the basis of the above embodiments, the visual light source 103 is annular, and the lens of the visual camera 102 corresponds to the hollow part of the visual light source 103, so that the visual camera 102 can conveniently acquire image information, and the light is sufficient and uniform. Specifically, the vision light source 103 is mounted on the support body 105 through a support bracket.
In addition to the above embodiments, the support body 105 has a lightening hole in the middle, which reduces the weight of the whole device, further reduces the load of the robot arm, and makes the operation more flexible.
On the basis of the above embodiments, the distance measuring part 104 is a laser positioning part, and the laser positioning part includes a laser sensor for measuring the front distance between the welding surface and the adjacent plate strip at the welding point and the welding gun, so that the specific position of the welding seam can be calculated, and the automatic welding is prepared.
In addition to the above embodiments, the torch unit 101 is attached to the tip of the support body 105, and the distance measuring member 104 is attached to the side of the support body 105, thereby reducing interference.
On the basis of the above embodiments, the welding gun assembly 101 includes a support base, a welding gun head and a support rod, the support base is located on the support main body 105, one end of the support rod is installed on the support base, the other end extends to the lower part of the outer side, the influence on the visual positioning assembly is reduced, and the welding gun head is installed at the suspension end of the support rod. Specifically, the welding gun assembly 101 may be a welding gun assembly 101 in the prior art, which is used for performing automatic welding on the searched welding seam position.
The automatic seam-seeking welding device 100 provided by the embodiment includes the following operation processes:
step S1: manually placing the plate strip coiled material 200 on the V-shaped bracket through a traveling crane;
step S2: the visual positioning assembly can position the outer circle of the coiled material by grabbing the outer circle arc of the coiled material;
step S3: after the excircle position is located, the distance measuring component 104 is started, the distance between the welding surface and the front surface of the welding gun assembly 101 is measured through a laser sensor, and the target position of a welding seam is found according to the thickness of a single plate strip;
step S4: after the welding target position is determined, controlling the welding gun assembly 101 to move to the target position, starting the welding gun module, entering a welding state, and completing automatic welding work;
step S5: and finishing the operation.
The automatic seam-searching welding device 100 provided by the embodiment integrates the AOI visual positioning component, the laser positioning component and the welding gun component 101, and is tightly combined together through a mechanical structure, so that the device can automatically complete a whole set of processes of positioning, seam searching and welding in the welding process, and the purposes of improving efficiency and quality and freeing manpower are achieved; meanwhile, the device can be used for products with different specifications, namely products with different inner/outer radiuses, different plate belt widths and thicknesses and different placing positions, and has great universality.
In addition to the above automatic seam-searching welding device 100, the present invention further provides a robot, which includes a mechanical arm and the above automatic seam-searching welding device 100 installed at the free end of the mechanical arm, and other structures of the robot refer to the prior art, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above is to the automatic seam-searching welding device provided by the utility model is introduced in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (10)
1. The automatic seam-seeking welding device (100) is characterized by comprising a welding gun assembly (101), a visual positioning assembly, a distance measuring component (104), a supporting main body (105) and a controller, wherein the visual positioning assembly is used for obtaining the welding surface and the outer circle position of a plate strip coil (200), the distance measuring component (104) is used for obtaining the distance between the welding surface and the welding gun assembly (101), the supporting main body can be installed at the free end of a mechanical arm, the controller is used for controlling the welding gun assembly (101) to move to a target position, and the welding gun assembly (101), the distance measuring component (104) and the visual positioning assembly are all installed on the supporting main body (105).
2. The automated seam-seeking welding apparatus (100) according to claim 1, wherein the visual positioning assembly comprises a visual camera (102) and a visual light source (103), the visual light source (103) being located at a lens front end of the visual camera (102).
3. The automated seam-seeking welding apparatus (100) according to claim 2, wherein the visual positioning assembly is mounted on top of the support body (105).
4. The automated seam-seeking welding apparatus (100) according to claim 2, wherein the visual positioning assembly further comprises a camera mount, the visual camera (102) being mounted on the camera mount, the camera mount being removably mounted on the support body (105).
5. The auto seam-seeking welding device (100) according to claim 2, wherein the visual light source (103) is annular, and a lens of the visual camera (102) corresponds to a hollow portion of the visual light source (103).
6. The automated seam-seeking welding device (100) according to claim 1, characterized in that a central portion of the support body (105) is provided with a lightening hole.
7. The automated seam-seeking welding apparatus (100) according to any one of claims 1 to 6, wherein the distance measuring member (104) is a laser sensor.
8. The auto seam-seeking welding apparatus (100) according to claim 7, wherein the welding torch assembly (101) is installed at a front end of the support body (105), and the distance measuring part (104) is installed at a side of the support body (105).
9. The automated seam-seeking welding device (100) according to any one of claims 1 to 6, wherein the welding gun assembly (101) comprises a support base, a welding gun head and a support rod, the support base is arranged on the support body (105), one end of the support rod is arranged on the support base, the other end of the support rod extends towards the lower part of the outer side, and the welding gun head is arranged at the suspension end of the support rod.
10. A robot comprising a robot arm and a self-seam-seeking welding device (100) mounted at a free end of the robot arm, characterized in that the self-seam-seeking welding device (100) is a self-seam-seeking welding device (100) according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022361691.1U CN213531362U (en) | 2020-10-21 | 2020-10-21 | Robot and automatic seam searching welding device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022361691.1U CN213531362U (en) | 2020-10-21 | 2020-10-21 | Robot and automatic seam searching welding device thereof |
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| Publication Number | Publication Date |
|---|---|
| CN213531362U true CN213531362U (en) | 2021-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022361691.1U Active CN213531362U (en) | 2020-10-21 | 2020-10-21 | Robot and automatic seam searching welding device thereof |
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| CN (1) | CN213531362U (en) |
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- 2020-10-21 CN CN202022361691.1U patent/CN213531362U/en active Active
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