CN214291574U

CN214291574U - Automatic tracking welding device for corrugated plate of robot carriage plate

Info

Publication number: CN214291574U
Application number: CN202120139000.5U
Authority: CN
Inventors: 刘力; 李志川
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-09-28
Anticipated expiration: 2031-01-19

Abstract

The utility model belongs to the technical field of welding of automobile carriage plates and corrugated plates of containers, in particular to an automatic tracking welding device for corrugated plates of a robot carriage plate, which comprises a mechanical welding gun, a laser welding seam tracker, a mechanical arm, a track and a mechanical arm driving slide seat; the bottom of the mechanical arm is arranged on the rail in a sliding mode through a mechanical arm driving sliding seat, the end head of the mechanical arm is connected and arranged with a mechanical welding gun through a connecting piece, and a laser welding seam tracker is arranged on the mechanical welding gun. The utility model has simple structure and convenient operation, the automatic tracking welding of the corrugated plate of the carriage of the robot replaces the pure mechanical arm welding or the pure manual welding process, thereby saving a great deal of manual correction welding time and manpower, meeting the use requirement and being beneficial to use; the requirement of accuracy and attractiveness of the carriage welding line is met, and the carriage welding line is favorable for use.

Description

Automatic tracking welding device for corrugated plate of robot carriage plate

Technical Field

The utility model belongs to the technical field of the welding of car carriage board and container unrestrained board, concretely relates to robot carriage board unrestrained board automatic tracking welding set.

Background

The welding of the car platform board corrugated plate is generally divided into two types, the first type is that a simple welding manipulator performs welding under the programming of an operator, the operator usually needs to pause the manipulator after the welding manipulator welds a small section, the operator manually observes whether the welding seam deviates, and then the welding is continued after the track is corrected. The car deck wave plates are usually very long in length, and the welding path is also very long. The car board corrugated plate is welded by using a pure welding manipulator, and usually an operator needs to suspend welding for many times in the midway to correct the path, so that not only is the time wasted, but also the welding quality is not easy to ensure. The second kind is pure manual welding, and the welding workman is because real-time welding, observes the welding seam in real time, and the comparison can solve first kind welding seam skew problem, but manual welding has main three point shortcoming: firstly, a welding operator must be directly contacted and immersed in a welding site, a large amount of dust, smell and other harmful substances are generated on the welding site, and the pure manual welding causes the welding worker to be directly contacted with a harmful environment. Secondly, manual welding is carried out on the basis of manpower, the physical strength of workers can be gradually reduced, and the workers are easily affected by factors of fatigue and air temperature to generate influences on the polishing quality of products. Thirdly, the method comprises the following steps: manual welding is too dependent on the proficiency of workers, and particularly unskilled welding workers cannot weld carriage plates with good quality, so that manual welding is easily influenced by people and is not easily parameterized. Therefore, we propose an automatic tracking welding device for the corrugated board of the robot carriage to solve the above problems.

SUMMERY OF THE UTILITY MODEL

To solve the problems set forth in the background art described above. The utility model provides an automatic tracking welding device for the corrugated plate of the robot carriage plate, which replaces the pure mechanical arm welding or the pure manual welding process with the automatic tracking welding of the corrugated plate of the robot carriage plate, saves a great deal of manual correction welding time and manpower, meets the use requirement and is beneficial to use; the requirement of accuracy and attractiveness of the carriage welding line is met, and the carriage welding line is favorable for use.

In order to achieve the above object, the utility model provides a following technical scheme: a robot carriage board wave board automatic tracking welding device comprises a machine-held welding gun, a laser welding seam tracker, a manipulator, a track and a manipulator driving sliding seat; the bottom of the mechanical arm is arranged on the rail in a sliding mode through a mechanical arm driving sliding seat, the end head of the mechanical arm is connected and arranged with a mechanical welding gun through a connecting piece, and a laser welding seam tracker is arranged on the mechanical welding gun.

Preferably, the mechanical welding gun is provided with a positioning clamp, and the laser welding seam tracker is arranged on the mechanical welding gun through the positioning clamp.

Preferably, a single chip microcomputer controller is installed on the mechanical arm driving sliding seat, and the machine-held welding gun, the laser welding seam tracker and the mechanical arm are respectively and electrically connected with the single chip microcomputer controller.

Preferably, the robot is a land-axis robot.

Preferably, the robot welding gun is rotated on the robot arm through a link.

Preferably, the robot drives the carriage to move horizontally on the rail by a robot.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model welds the corrugated plate of the carriage plate by the manipulator, the manipulator aligns the welding line at the real-time correction mechanism of the laser welding line tracker, and the welding is executed according to the accurate welding track; the following effects are achieved: the first point is as follows: the welding seam is tracked while welding, the deformation of the workpiece can be accurately welded, and the yield is greatly improved. And a second point: the large workpiece does not need to be assembled, and the tracker automatically identifies the position of the welding line to realize automatic welding. And a third point: and under the condition of meeting the requirements of workpieces, the working procedures are reduced, the labor is saved, and the automatic welding is realized. In summary, especially the breakwater of the car body board is a large workpiece product and is easy to deform. Use this novel mechanism can increase substantially efficiency.

The utility model has simple structure and convenient operation, the automatic tracking welding of the corrugated plate of the carriage of the robot replaces the pure mechanical arm welding or the pure manual welding process, thereby saving a great deal of manual correction welding time and manpower, meeting the use requirement and being beneficial to use; the requirement of accuracy and attractiveness of the carriage welding line is met, and the carriage welding line is favorable for use.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of an automatic tracking welding device for a corrugated plate of a robot carriage of the present invention;

FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;

fig. 3 is a schematic structural view of the automatic tracking welding device for the corrugated plate of the robot car body.

In the figure: 1. a robotic welding gun; 2. a laser weld tracker; 3. a manipulator; 4. a car deck wave plate; 5. A carriage transverse plate; 6. a track; 7. the manipulator drives the slide.

Detailed Description

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.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Example 1

Referring to fig. 1-3, the present invention provides the following technical solutions: a robot carriage board wave board automatic tracking welding device comprises a machine-held welding gun 1, a laser welding seam tracker 2, a manipulator 3, a track 6 and a manipulator driving sliding seat 7; the bottom of the mechanical arm 3 is arranged on the track 6 in a sliding mode through a mechanical arm driving sliding seat 7, the end head of the mechanical arm 3 is provided with a mechanical holding welding gun 1 in a connecting mode through a connecting piece, and a laser welding seam tracker 2 is arranged on the mechanical holding welding gun 1.

Specifically, a positioning fixture is installed on the machine-held welding gun 1, and a laser welding seam tracker 2 is installed through the positioning fixture.

Specifically, a single chip microcomputer controller is installed on the manipulator driving slide seat 7, and the machine-held welding gun 1, the laser welding seam tracker 2 and the manipulator 3 are respectively and electrically connected with the single chip microcomputer controller.

Specifically, the manipulator 3 is a land axle manipulator; can effectively rotate at various angles, thereby completing the welding work of the corrugated plate of the carriage plate.

Specifically, the welding gun 1 is rotated on the manipulator 3 through a connecting piece.

Specifically, the manipulator 3 drives the sliding seat 7 to horizontally move on the track 6 through the manipulator; because the car board wave plate 4 is a relatively long welded body generally, the manipulator 3 is provided with the track 6, and performs welding and walking on the specified track 6; the welding range of the manipulator 3 is greatly improved.

In addition, the mechanically-held welding gun 1 can be a commercially available mechanically-held welding gun which can be purchased easily and can continuously and stably weld the corrugated plate of the carriage plate;

the laser welding seam tracker 2 is a laser welding seam tracker which is easily purchased in the market, and the laser welding seam tracker 2 is installed and positioned on the handheld welding gun 1 and then guides the tracking of the welding seam; the laser seam tracker 2 has three main features: firstly, after the tracker receives the starting signal, the tracker starts to search the weld joint characteristics. And secondly, outputting deviation numerical values in real time according to the actual welding position. Thirdly, the method comprises the following steps: and the executing mechanism adjusts the correcting mechanism to align the welding line according to the actual deviation.

The welding operator only needs to simply analyze the welding track 6, so that the car board wave plate 4 of the robot can automatically track and weld on the track to perform welding; the laser welding seam tracker can automatically calculate and effectively correct and guide welding according to the gap between the corrugated plate 4 of the carriage plate and the transverse plate 5 of the carriage; thereby completing an accurate motion trajectory.

The utility model discloses a theory of operation and use flow: the utility model discloses when using, the SW-A1 tracker through laser welding seam tracker 2 carries out data acquisition at first, is responsible for gathering welding workpiece's welding seam position deviation data in real time, according to image output deviation data, then demonstrates in real time on the display analysis, carries the deviation to unique core algorithm, carries out data interference and filters out, the while accurate calculation welding seam position deviation. Finally, motion control is carried out, the welding posture of the manipulator is controlled in time according to the position deviation data of the welding seam, and the welding gun is ensured to be aligned with the welding seam; the single chip microcomputer controller supports the overall control of 1-8 shafts and manipulators with various structures, has rich welding instructions, can be flexibly matched and meets various welding requirements; the laser welding seam tracker 2 effectively and accurately guides the manipulator 3 to execute an accurate track, and drives the movable holding welding gun 1 to perform operation and weld the corrugated plate 4 of the carriage plate; after the welding of the first car body panel wave plate 4 is completed, the next welded car body panel wave plate 4 can be placed at the corresponding position according to the requirement, and the welding work can be executed in a circulating manner.

The utility model discloses simple structure, convenient operation, the intelligent weldment work of utilization manipulator execution of being convenient for has practiced thrift a large amount of time and manpower, satisfies the use needs, is favorable to the use.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a railway carriage board wave board automatic tracking welding set which characterized in that of robot: comprises a machine-held welding gun (1), a laser welding seam tracker (2), a mechanical arm (3), a track (6) and a mechanical arm driving sliding seat (7); the bottom of the mechanical arm (3) is arranged on the rail (6) in a sliding mode through a mechanical arm driving sliding seat (7), the end of the mechanical arm (3) is connected and provided with a mechanical holding welding gun (1) through a connecting piece, and a laser welding seam tracker (2) is installed on the mechanical holding welding gun (1).

2. The robotic car body panel wave plate automatic tracking welding device of claim 1, wherein: and a positioning clamp is arranged on the machine-held welding gun (1), and a laser welding seam tracker (2) is arranged through the positioning clamp.

3. The robotic car body panel wave plate automatic tracking welding device of claim 1, wherein: and a single chip microcomputer controller is installed on the mechanical arm driving sliding seat (7), and the machine-held welding gun (1), the laser welding seam tracker (2) and the mechanical arm (3) are respectively electrically connected with the single chip microcomputer controller.

4. The robotic car body panel wave plate automatic tracking welding device of claim 1, wherein: the mechanical arm (3) adopts a land axle mechanical arm.

5. The robotic car body panel wave plate automatic tracking welding device of claim 1, wherein: the mechanical welding gun (1) rotates on the manipulator (3) through the connecting piece.

6. The robotic car body panel wave plate automatic tracking welding device of claim 1, wherein: the manipulator (3) drives the sliding seat (7) to horizontally move on the rail (6) through the manipulator.