CN214444012U

CN214444012U - Laser sensing intelligent welding robot and aluminum template clamp used by same

Info

Publication number: CN214444012U
Application number: CN202022987572.7U
Authority: CN
Inventors: 李广; 曹建华
Original assignee: Zhuhai Pingzhu Technology Co ltd
Current assignee: Zhuhai Pingzhu Technology Co ltd
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-10-22
Anticipated expiration: 2030-12-10

Abstract

The utility model provides a laser sensing intelligence welding robot and aluminium template anchor clamps that use thereof, aluminium template anchor clamps include the tray, compress tightly unit and copper bar, the tray has and holds the position, it is including compressing tightly subassembly and actuating mechanism to compress tightly the unit, it is located and holds the position and extend along the first direction to compress tightly the subassembly, it is close to the first lateral wall setting of tray to compress tightly the subassembly, actuating mechanism's output and the subassembly fixed connection that compresses tightly, the actuating mechanism drive compresses tightly the second lateral wall removal of subassembly relative tray in the second direction, first direction and second direction are mutually perpendicular, the second lateral wall is on a parallel with first lateral wall, the copper bar extends along the first direction, the copper bar is installed and is being compressed tightly the subassembly just to the second lateral wall on the surface. Laser sensing intelligence welding robot is provided with this aluminium template anchor clamps, and the welding return circuit is cut off when aluminium template anchor clamps can prevent that laser sensing intelligence welding robot from carrying out welding jobs to can improve welding return circuit stability.

Description

Laser sensing intelligent welding robot and aluminum template clamp used by same

Technical Field

The utility model belongs to the technical field of the welding process technique and specifically relates to a laser sensor intelligence welding robot of aluminium template anchor clamps and be provided with this aluminium template anchor clamps is related to.

Background

The building form is a temporary supporting structure, which is used for forming concrete structures and members according to specified positions and geometric dimensions, keeping the concrete structures and the members in correct positions, and bearing the self weight of the building form and external loads acting on the building form. The purpose of the template engineering is to ensure the quality and the construction safety of the concrete engineering, accelerate the construction progress and reduce the engineering cost. The aluminum template is used as one of building templates, is widely used in the building industry due to the advantages of low possibility of damage and deformation, reusability and the like, wherein the aluminum template can be generally made into a tray shape in order to reduce the weight of the aluminum template, and longitudinal reinforcing ribs and transverse reinforcing ribs can be arranged in cavities of the tray-shaped aluminum template in order to ensure that the aluminum template has enough rigidity and strength, and the longitudinal reinforcing ribs, the transverse reinforcing ribs and the aluminum template are welded and fixed with one another.

At present, the welding processing of the aluminum template mainly comprises three processing modes, namely pure manual welding, manual semi-automatic welding combined with equipment and full-automatic welding, and no matter which processing mode is adopted, when the aluminum template is welded, a welding loop needs to be formed between a welding gun and the aluminum template. The common method for forming a welding loop between a welding gun and an aluminum template in the prior art is to connect a grounding clamp at the negative electrode end of a welding machine, and clamp the grounding clamp on the aluminum template when the aluminum template is welded so as to form the welding loop between the aluminum template and the welding gun. However, the grounding clamp is clamped on the aluminum template to form a welding loop between the aluminum template and the welding gun, and the welding loop has the following defects:

firstly, due to the inherent structural design of the aluminum template, after the grounding clamp is clamped on the aluminum template, the grounding clamp has poor stability and is easy to be disconnected from the aluminum template, so that a welding circuit is forced to be cut off;

secondly, the contact surface between the grounding clamp and the aluminum template is limited, poor contact is easy to occur, and the stability of a welding loop is poor;

thirdly, for manual work and semi-automatic welding processing or full-automatic welding processing combined with equipment, the aluminum template is usually installed on a special fixture firstly, then the fixture is placed on a transportation line, the transportation line transports the aluminum template to a specified welding station for welding processing, and due to the fact that the connection stability between the grounding clamp and the aluminum template is poor, the grounding clamp is easily torn down from the aluminum template in the transportation process of the fixture, and therefore a welding loop is cut off and welding processing cannot be conducted on the aluminum template.

Disclosure of Invention

In order to solve the above problems, the present invention provides an aluminum form fixture for preventing a welding circuit from being cut off and improving the stability of the welding circuit.

Another object of the utility model is to provide a be provided with the intelligent welding robot of laser sensing of above-mentioned aluminium template anchor clamps.

In order to realize the utility model discloses a main objective, the utility model provides an aluminum mould anchor clamps, wherein, including the tray, compress tightly unit and copper bar, the tray has and holds the position, it is including compressing tightly subassembly and actuating mechanism to compress tightly the unit, it is located and holds the position and extend along the first direction to compress tightly the subassembly, it is close to the first lateral wall setting of tray to compress tightly the subassembly, actuating mechanism's output and compressing tightly subassembly fixed connection, the actuating mechanism drive compresses tightly the subassembly and removes in the second lateral wall of second direction relative to the tray, first direction and second direction are perpendicular mutually, the second lateral wall is on a parallel with first lateral wall, the copper bar extends along the first direction, the copper bar is installed and is being compressed tightly the subassembly just to the second lateral wall on the surface.

It is thus obvious that the copper bar is used for forming the welding return circuit with welder, and install the copper bar and make the aluminium template place the tray on compressing tightly the subassembly in the position that holds, compress tightly the actuating mechanism of unit and compress tightly the subassembly and remove when compressing tightly the aluminium template in order to compress tightly the aluminium template at the drive, the copper bar can follow and compress tightly the subassembly and remove until adjoining with the aluminium template to the aluminium template, with when welder weld man-hour to the aluminium template, form the welding return circuit between copper bar and the welder. Through the structural design to aluminum mould plate anchor clamps for compress tightly the unit when compressing tightly aluminum mould plate on the tray, the copper bar can carry out the large tracts of land contact with aluminum mould plate, and prevent that aluminum mould plate anchor clamps from being transferred in-process copper bar break away from with the contact of aluminum mould plate, guarantee that welding adds man-hour welding return circuit and not cut off, make welder can normally carry out welding process to aluminum mould plate, improved welding return circuit's stability simultaneously.

The tray is provided with an opening and a third side wall, wherein the opening and the third side wall are distributed along the first direction, the opening is formed at the first end part of the first side wall, and the third side wall is respectively connected with the second end part of the first side wall and the second end part of the second side wall.

It is from top to bottom visible, the third lateral wall plays and carries out spacing effect to the aluminum mould board in the first direction, prevents that the aluminum mould board from stretching out the second end of first lateral wall, and open-ended setting then makes more convenience when putting into holding the position of tray with the aluminum mould board.

One preferred scheme is that aluminium template anchor clamps still include roller group, and roller group is located and holds the position and be located the below that compresses tightly the subassembly, and roller group includes the many rollers that distribute along first direction, and the roller extends along the second direction, and the roller is connected with the tray rotationally around the axis of self.

Therefore, the arrangement of the roller shaft group enables the aluminum template to be more convenient and labor-saving when being placed into the containing position of the tray.

Another preferred solution is that the aluminum mold plate fixture further includes a first opposite-emitting type photoelectric sensor, the first opposite-emitting type photoelectric sensor is located between the opening and the pressing component, the first opposite-emitting type photoelectric sensor includes a first emitting end and a first receiving end, one of the first emitting end and the first receiving end is mounted on the first sidewall, and the other one is mounted on the second sidewall.

It is thus clear that, first correlation type photoelectric sensor is used for detecting whether having placed the aluminium template on the aluminium template anchor clamps to make the welding equipment who is provided with this aluminium template anchor clamps can know in real time the load condition of aluminium template anchor clamps, thereby be convenient for welding equipment carries out relevant operation.

The aluminum template fixture further comprises a second opposite-emission type photoelectric sensor, the second opposite-emission type photoelectric sensor is arranged at the opening and comprises a second emission end and a second receiving end, one of the second emission end and the second receiving end is arranged on the first side wall, and the other one of the second emission end and the second receiving end is arranged on the second side wall.

It is thus clear that, second correlation type photoelectric sensor is used for detecting whether the position of placing of aluminium template on the aluminium template anchor clamps is correct for the welding equipment that is provided with this aluminium template anchor clamps can know the position of placing of aluminium template on the aluminium template anchor clamps in real time, in order when the position of placing of aluminium template is unusual, welding equipment can in time remind operating personnel or make relevant operating means adjust, rectify the position of placing of aluminium template.

Another preferred scheme is that the aluminum mould plate clamp further comprises a distance measuring sensor, the distance measuring sensor is arranged on the third side wall, and the detection end of the distance measuring sensor is located above the accommodating position and arranged towards the opening.

From top to bottom, range sensor is used for measuring the length of aluminum mould board to be provided with the welding equipment of aluminum mould board anchor clamps and can control relevant operating means and carry out the processing of looks adaptation to the aluminum mould board.

The pressing assembly comprises a connecting rod, a pressing rod and a spring, the connecting rod extends along a first direction, the connecting rod is fixedly connected with the driving end of the driving mechanism, the pressing rod is located between the connecting rod and the second side wall, the pressing rod extends along the first direction, more than two connecting shafts distributed along the first direction are arranged on the pressing rod, the connecting shafts extend along a second direction and are connected with the connecting rod in a sliding mode, the copper bar is installed on the pressing rod, and two ends of the spring are respectively abutted to the connecting rod and the pressing rod; actuating mechanism includes sharp module and motor, and the lead screw of sharp module extends along the second direction, the slip table of sharp module with compress tightly subassembly fixed connection, the motor drive lead screw rotates, or actuating mechanism includes electronic jar, the push rod of electronic jar extends along the second direction, and push rod and compress tightly subassembly fixed connection.

As can be seen from the above, through the structural design of the compressing assembly, when the copper bar is just in contact with the aluminum template, the compressing assembly can play a certain buffering role, so that the copper bar and the compressing assembly are prevented from being in hard contact with the aluminum template, and one or more of the aluminum template, the copper bar and the compressing assembly are prevented from being damaged; the structure of the driving mechanism can be changed adaptively according to the design requirements, the use requirements, the assembly requirements, the installation space and other conditions of the aluminum template clamp.

The more-than-two pressing units are distributed along the first direction.

It can be seen from above that, above-mentioned setting makes aluminium template anchor clamps can carry out reliable the compressing tightly to the aluminium template of different length to better optimization compresses tightly the structure of unit and the structure of aluminium template anchor clamps.

In order to realize the utility model discloses a further purpose, the utility model provides a laser sensing intelligence welding robot, including visual system, welding robot and drive arrangement, wherein, still including foretell aluminium template anchor clamps, drive arrangement drive aluminium template anchor clamps move between visual system and welding robot.

From top to bottom, be provided with the laser sensing intelligence welding robot of above-mentioned aluminium template anchor clamps can prevent that the copper bar of aluminium template anchor clamps above that breaks away from the contact with the aluminium template by the in-process of transferring, and then avoid welding to add the welding and cut off with the welding return circuit, guarantee that welder can normally weld processing to the aluminium template to welding return circuit's stability has effectively been improved.

The further scheme is that the driving device comprises a guide rail assembly, a rack and a servo motor, the guide rail assembly extends along the first direction, the aluminum template clamp is slidably mounted on the guide rail assembly, the rack is parallel to the guide rail assembly, the servo motor is mounted on the aluminum template clamp, a gear is fixedly mounted on a motor shaft of the servo motor, and the gear is meshed with the rack.

It is thus clear that because the aluminium template generally is big long piece, consequently make drive arrangement can be accurate, transport aluminium template anchor clamps reliably through the structural design to drive arrangement to guarantee welding robot's welding precision, vision system's scanning precision and scanning accuracy.

Drawings

Fig. 1 is a structural diagram of an embodiment of the laser sensing intelligent welding robot of the present invention.

Fig. 2 is a structural diagram of the embodiment of the laser-sensing intelligent welding robot with part of components omitted.

Fig. 3 is the structure diagram of the aluminum template clamp and the driving device at the first view angle of the embodiment of the laser sensing intelligent welding robot.

Fig. 4 is the structure diagram of the aluminum template clamp and the driving device at the second view angle of the embodiment of the laser sensing intelligent welding robot.

Fig. 5 is a structural diagram of the pressing unit of the embodiment of the laser sensing intelligent welding robot of the present invention.

Fig. 6 is an enlarged view at C in fig. 4.

Fig. 7 is an enlarged view at B in fig. 3.

Fig. 8 is a structural diagram of a vision system of an embodiment of the laser sensing intelligent welding robot of the present invention.

Fig. 9 is a partial structure view of the vision system of the embodiment of the laser sensing intelligent welding robot of the present invention.

Fig. 10 is a structural diagram of a welding robot according to an embodiment of the present invention.

Fig. 11 is a partial structure view of a welding robot according to an embodiment of the present invention.

Fig. 12 is an enlarged view at a in fig. 2.

The present invention will be further explained with reference to the drawings and examples.

Detailed Description

Laser sensing intelligence welding robot embodiment:

referring to fig. 1 and 2, the laser sensing smart welding robot 100 includes a frame 1, an aluminum template jig 2, a driving device 3, a vision system 4, a welding robot 5, a hood 6, a safety grating 7, and a welding gun calibration unit 8. Wherein, be provided with first guide rail set 11 on the frame 1, first guide rail set 11 extends along first direction X.

The number of aluminium template anchor clamps 2 and drive arrangement 3 is two, and drive arrangement 3 includes second guide rail assembly 12, and second guide rail assembly 12 extends along first direction X, and first guide rail assembly 11 and second guide rail assembly 12 distribute along second direction Y, wherein, the direction of height Z two liang mutually perpendicular of first direction X, second direction Y and frame 1. Furthermore, the two drive means 3 are located between the two rails of the first rail assembly 11. An aluminum die plate jig 2 is slidably mounted on a second rail assembly 12 of a driving means, and a driving means 3 is used to drive the aluminum die plate jig 2 along the second rail assembly 12.

Referring to fig. 3 and 4, the aluminum template jig 2 includes a tray 21, a pressing unit 22, a copper bar 23, a roller group 24, a first opposite type photosensor 25, a second opposite type photosensor 26, and a distance measuring sensor 27. The tray 21 is slidably mounted on the second rail assembly 12 along the extending direction of the second rail assembly 12, and the tray 21 has a receiving position 211, and the receiving position 211 is used for receiving the aluminum mold plate 10 to be processed. The tray 21 has a first sidewall 212, a second sidewall 213, a third sidewall 214, and an opening 215, the first sidewall 212 is parallel to the second sidewall 213, and the first sidewall 212 and the second sidewall 213 are distributed along the second direction Y. The third sidewall 214 and the opening 215 are distributed along the first direction X, the opening 215 is formed at a first end of the first sidewall 212, and the third sidewall 214 is connected to a second end of the first sidewall 212 and a second end of the second sidewall 213. Wherein, in the feeding direction in which the driving device 3 drives the aluminum template holder 2 to move to the vision system 4 for scanning, the opening 215 is located at the upstream end of the third sidewall 214, and the feeding direction is parallel to the first direction X. Third lateral wall 214 plays the effect of spacing aluminum mould board 10 in first direction X, prevents that aluminum mould board 10 from stretching out the second end of first lateral wall 212, and the setting of opening 215 then makes more convenient when putting into the position 211 that holds of tray 21 with aluminum mould board 10.

The pressing unit 22 includes a pressing assembly 221 and a driving mechanism 222, and the pressing assembly 221 is located in the accommodating position 211 and extends along the first direction X. The pressing assembly 221 is disposed near the first sidewall 212 of the tray 21, and the driving end of the driving mechanism 222 is fixedly connected to the pressing assembly 221, so that the driving mechanism 222 can drive the pressing assembly 221 to move in the second direction Y relative to the second sidewall 213 of the tray 21, so as to press and fix the aluminum mold plate 10 in the accommodating position 211. Specifically, referring to fig. 5, the pressing assembly 221 includes a connecting rod 2211, a pressing rod 2212 and a spring, the connecting rod 2211 extends along the first direction X, and the connecting rod 2211 is fixedly connected with the driving end of the driving mechanism 222. The pressing bar 2212 is located between the connecting bar 2211 and the second side wall 213, and the pressing bar 2212 extends in the first direction X. The pressing rod 2212 is provided with more than two connecting shafts 2213, the more than two connecting shafts 2213 are distributed along the first direction X, and the connecting shafts 2213 extend along the second direction Y. The connecting shaft 2213 is slidably connected to the connecting rod 2211 in its own axial direction, so that the pressing rod 2212 can move in the second direction Y relative to the connecting rod 2211. The number of springs is preferably equal to the number of connecting shafts 2213, and one spring is preferably sleeved on one connecting shaft 2213, and in addition, both ends of the spring are respectively abutted against the connecting rod 2211 and the pressing rod 2212.

In this embodiment, the driving mechanism 222 includes a linear module 2221 and a motor, the linear module 2221 is fixedly connected to the tray 21, the screw of the linear module 2221 extends along the second direction Y, and the sliding table 2222 of the linear module 2221 is fixedly connected to the connecting rod 2211 of the pressing assembly 221. The motor is installed on straight line module 2221, and the motor is used for driving the lead screw of straight line module 2221 to rotate, and then makes slip table 2222 drive and compress tightly subassembly 221 and move in second direction Y to compress tightly or remove the compressing tightly to aluminium template 10 in holding the position 211. Of course, in other embodiments, the driving mechanism 222 may also be an electric cylinder, and when the driving mechanism 222 is an electric cylinder, the electric cylinder is fixedly mounted on the tray 21, and a push rod of the electric cylinder is parallel to the second direction Y, and furthermore, an extended end of the push rod of the electric cylinder is fixedly connected to the connecting rod 2211 of the pressing assembly 221 to drive the pressing assembly 221 to move in the second direction Y.

The copper bar 23 extends along the second direction Y, and the copper bar 23 is mounted on the pressing bar 2212 of the pressing assembly 221 and is located on the surface of the pressing bar 2212 opposite to the second side wall 213 of the tray 21. The copper bar 23 is used for forming a welding loop with the welding gun 51 of the welding robot 5, and the copper bar 23 is installed on the pressing assembly 221, so that when the driving mechanism 222 of the pressing unit 22 drives the pressing assembly 221 to move towards the aluminum template 10 in the accommodating position 211 so as to press the aluminum template 10, the copper bar 23 can move towards the aluminum template 10 along with the pressing assembly 221 until abutting against the aluminum template 10, so that when the welding robot 5 performs welding processing on the aluminum template 10, a welding loop is formed between the copper bar 23 and the welding gun 51.

Through installing copper bar 23 on the depression bar 2212 that compresses tightly subassembly 221 for compress tightly unit 22 when compressing tightly aluminum mould board 10 on tray 21, copper bar 23 can carry out the large tracts of land contact with aluminum mould board 10, and prevent that aluminum mould board anchor clamps 2 from being transferred in-process copper bar 23 break away from the contact with aluminum mould board 10, guarantee that the welding adds the welding and does not cut off with man-hour welding return circuit, make welder 51 can normally carry out welding process to aluminum mould board 10, improved welding return circuit's stability simultaneously. Furthermore, through the structural design to compressing tightly subassembly 221 for copper bar 23 just contacts with aluminium template 10, compresses tightly subassembly 221 and can play certain cushioning effect to prevent that copper bar 23 and compressing tightly subassembly 221 from carrying out the hard contact with aluminium template 10, thereby avoid aluminium template 10, copper bar 23, compress tightly one or more in the subassembly 221 impaired. In addition, an insulating film is arranged between the first guide rail assembly 11 and the rack 1, and a second insulating film is arranged between the second guide rail assembly 12 and the rack 1, so that current on the copper bar 23 cannot flow on the rack 1, and the normal welding loop is ensured.

Preferably, the number of the pressing units 22 is two or more, and the two or more pressing units 22 are distributed along the first direction X, as in the present embodiment, the number of the pressing units 22 is two. By setting the number of the pressing units 22 to be more than two, the aluminum formwork clamp 2 can reliably press the aluminum formworks 10 with different lengths, and the structure of the pressing units 22 and the structure of the aluminum formwork clamp 2 are better optimized.

The roller set 24 is located in the receiving position 211 of the tray 21, and the roller set 24 is located below the pressing assembly 221. The roller set 24 comprises a plurality of rollers distributed along the first direction X, and each roller extends along the second direction Y. In addition, each roller is rotationally connected with the tray 21 around the axis of the roller, and the arrangement of the roller group 24 enables the aluminum template 10 to be more convenient and labor-saving when being placed into the containing position 211 of the tray 21.

Referring to fig. 6, the first opposite-emitting type photoelectric sensor 25 is located between the opening 215 of the tray 21 and the pressing assembly 221, and the first opposite-emitting type photoelectric sensor 25 is used for detecting whether the aluminum mold plate 10 is placed in the accommodating position 211, so that the laser sensing smart welding robot 100 can know the load state of the aluminum mold plate clamp 2 in real time, thereby facilitating the laser sensing smart welding robot 100 to perform related operations, such as reminding an operator or enabling a related operating device to place the aluminum mold plate 10 on the aluminum mold plate clamp 2. Specifically, the first opposite-emitting type photosensor 25 includes a first emitting end 251 and a first receiving end 252, wherein the first emitting end 251 is mounted on the first sidewall 212, and the first receiving end 252 is mounted on the second sidewall 213, but, as another alternative, the first emitting end 251 may be mounted on the second sidewall 213, and the first receiving end 252 may be mounted on the first sidewall 212.

The position of the second opposite-emitting photoelectric sensor 26 is at the opening 215 of the tray 21, and the second opposite-emitting photoelectric sensor 26 is used for detecting whether the placing position of the aluminum template 10 on the aluminum template clamp 2 is correct, so that the laser sensing intelligent welding robot 100 can know the placing position of the aluminum template 10 on the aluminum template clamp 2 in real time, and when the placing position of the aluminum template 10 is abnormal, the laser sensing intelligent welding robot 100 can timely remind an operator or make a related operation device adjust and correct the placing position of the aluminum template 10. Specifically, the second opposite-type photosensor 26 includes a second emitting end 261 and a second receiving end 262, wherein the second emitting end 261 is mounted on the first sidewall 212, and the second receiving end 262 is mounted on the second sidewall 213. Similarly, as other alternatives, the second transmitting end 261 may be mounted on the second sidewall 213, and the second receiving end 262 may be mounted on the first sidewall 212.

Referring to fig. 7, the distance measuring sensor 27 is disposed at the third sidewall 214, and a detection end of the distance measuring sensor 27 is located above the receiving position 211 and disposed toward the opening 215. The distance measuring sensor 27 is used for measuring the length of the aluminum template 10, so that the laser sensing intelligent welding robot 100 can control the welding robot 5 to perform adaptive processing on the aluminum template 10.

As shown in fig. 3 and 4, the driving device 3 further includes a rack 31 and a servo motor 32, the rack 31 extends in the first direction X, and the rack 31 is mounted on the frame 1. A servo motor 32 is installed on the tray 21 of the aluminum template clamp 2, a gear 33 is fixedly installed on a motor shaft of the servo motor 32, and the gear 33 is meshed with the rack 31, so that the servo motor 32 can drive the aluminum template clamp 2 to move between the vision system 4 and the welding robot 5 through the gear 33 and the rack 31. Preferably, the rack 31 is a helical rack and the gear 33 is a helical gear.

Because the aluminum template 10 is generally a large long piece, the driving device 3 can accurately and reliably transport the aluminum template clamp 2 through the structural design of the driving device 3, and the welding precision of the welding robot 5 and the scanning precision and the scanning accuracy of the vision system 4 are ensured. In addition, with second guide rail set spare 12, aluminium template anchor clamps 2 and drive arrangement 3's quantity all sets up to two and makes when visual system 4 scans the aluminium template 10 on one aluminium template anchor clamps 2, welding robot 5 can weld processing to aluminium template 10 on another aluminium template anchor clamps 2, thereby eliminate or reduce welding robot 5's no-load waiting time, the effectual welding efficiency who improves laser sensing intelligent welding robot 100, make laser sensing intelligent welding robot 100 can satisfy the big batch processing demand.

Referring to fig. 8 and 9, the vision system 4 is slidably mounted on the first rail assembly 11, and the scanning end of the vision system 4 is movable relative to the aluminum formwork clamp 2 in the first direction X, the second direction Y, and the height direction Z, respectively, and at the same time, the scanning end of the vision system 4 is also rotatable about a first rotation axis parallel to the height direction Z and/or a second rotation axis perpendicular to the first rotation axis. Specifically, the vision system 4 includes a 3D laser scanner 41 and a calibration apparatus 40, wherein the calibration apparatus 40 includes a calibration block 42, a first gantry 43, a first driving unit 44, and a second driving unit 45.

The calibration block 42 is mounted on the frame 1, and specifically, the calibration block 42 is provided with two or more counter bores 421, and the counter bores 421 penetrate through the calibration block 42 in the height direction Z. Counter bore 421 is used for supplying connecting bolt to fix calibration block 42 in frame 1, and hold connecting bolt, avoid connecting bolt to expose outside calibration block 42, in order to prevent that connecting bolt from carrying out the position calibration at 3D laser scanner 41, produce the influence to 3D laser scanner 41 when scanning accuracy calibrates, and the quantity setting of counter bore 421 then can prevent calibration block 42 installation back emergence removal, avoid the position calibration to 3D laser scanner 41, scanning accuracy calibration causes the influence.

The calibration block 42 has more than two standard size parameters, and in the present embodiment, the calibration block 42 is a rectangular parallelepiped having a standard length, a standard width, and a first standard height. In other embodiments, the calibration block 42 may also be a cylinder, and the cylinder has a first standard diameter and a second standard height; or the proof mass 42 is a hemisphere having the second gauge diameter and the third gauge height. The calibration block 42 is used to calibrate the position and scanning accuracy of the 3D laser scanner 41. After the calibration block 42 is mounted on the rack 1, the standard size parameters of the calibration block 42 and the absolute position information of the calibration block 42 in the world coordinates of the laser sensing smart welding robot 100 are stored in the configuration table of the control center of the laser sensing smart welding robot 100.

The first gantry 43 is mounted on the first rail assembly 11, and the first gantry 43 can slide along the first rail assembly 11. The first driving unit 44 is used for driving the first gantry 43 to slide along the first guide rail assembly 11, and specifically, the first driving unit 44 includes a second servo motor 441, a second rack 442 and a second gear 443. Wherein, the second servo motor 441 is fixedly installed on the first portal frame 43; the second rack 442 extends along the first direction X, and the second rack 442 is fixedly mounted on the rack 1; the second gear 443 is fixedly sleeved on the motor shaft of the second servo motor 441, and the second gear 443 is meshed with the second rack 442, so that the second servo motor 441 can drive the first gantry 43 to slide along the first guide rail assembly 11 through the second gear 443 and the second rack 442. Preferably, the second rack 442 is a helical rack and the second gear 443 is a helical gear. In addition, in other embodiments, the first driving unit 44 may also be a combination structure of a servo motor and a linear module.

The second driving unit 45 is fixedly installed on the first gantry 43, and the 3D laser scanner 41 is fixedly installed on an execution end of the second driving unit 45. Among them, the second driving unit 45 includes a second driving mechanism 451, a third driving mechanism 452, a fourth driving mechanism 453, and a fifth driving mechanism 454.

The second driving mechanism 451 includes a second linear module 4511 and a third servo motor 4512, the second linear module 4511 is fixedly installed on the first gantry 43, and a second lead screw of the second linear module 4511 extends along the second direction Y. A third servo motor 4512 is installed on the second linear module 4511, and the third servo motor 4512 is configured to drive the second lead screw to rotate, so that the second sliding table of the second linear module 4511 drives the 3D laser scanner 41 to move in the second direction Y.

The third driving mechanism 452 includes a third linear module 4521 and a fourth servo motor 4522, the third linear module 4521 is fixedly mounted on the second sliding table of the second linear module 4511, and a third lead screw of the third linear module 4521 extends along the height direction Z. A fourth servo motor 4522 is installed on the third linear module 4521, and the fourth servo motor 4522 is configured to drive the third lead screw to rotate, so that the third sliding table of the third linear module 4521 drives the 3D laser scanner 41 to move in the height direction Z.

The fourth driving mechanism 453 includes a fifth servo motor 4531 and a first connecting base 4532, the fifth servo motor 4531 is mounted on the third sliding table of the third linear module 4521, and an axis of a motor shaft of the fifth servo motor 4531 is a first rotation axis. The first connection socket 4532 is fixedly connected to a motor shaft of the fifth servo motor 4531, so that the fifth servo motor 4531 can drive the first connection socket 4532 to rotate around the first rotation axis, and the first connection socket 4532 drives the 3D laser scanner 41 to rotate around the first rotation axis.

The fifth driving mechanism 454 includes a sixth servo motor 4541, a first divider 4542, and a first mounting 4543, the first divider 4542 is mounted on the first connecting mount 4532, the sixth servo motor 4541 is mounted on the first divider 4542, and a motor shaft of the sixth servo motor 4541 interfaces with an input shaft of the first divider 4542 to drive the input shaft of the first divider 4542 to rotate. An output shaft of the first divider 4542 is fixedly connected with the first mounting seat 4543, and the 3D laser scanner 41 is fixedly mounted on the first mounting seat 4543, wherein an axis of the output shaft of the first divider 4542 is a second rotation axis, so that the first mounting seat 4543 can drive the 3D laser scanner 41 to rotate around the second rotation axis.

It can be seen that, through the structural design of the second driving unit 45, the 3D laser scanner 41 can realize the motion in space, so that the scanning manner of the 3D laser scanner 41 is optimized, the 3D laser scanner 41 can have better scanning accuracy and scanning accuracy, and the 3D laser scanner 41 can execute a better scanning scheme, and the 3D laser scanner 41 can expand the scanning range of the 3D laser scanner 41 by rotating around the first rotation axis and/or the second rotation axis, so that the 3D laser scanner 41 can scan the aluminum template 10 more comprehensively, and the existence of scanning dead angles is avoided.

Referring to fig. 10 and 11, the welding robot 5 is slidably mounted on the first rail assembly 11, and the welding robot 5 is located at the downstream end of the vision system 4 in the above-mentioned feeding direction. The welding tip of the welding robot 5 can be opposed to the aluminum formwork holder 2 in the first direction X, the second direction Y, and the height direction Z, respectively, and at the same time, the welding tip of the welding robot 5 can also be rotated around a third rotation axis parallel to the height direction Z and/or a fourth rotation axis perpendicular to the third rotation axis. Specifically, the welding robot 5 includes a welding gun 51, a second gantry 52, a third driving unit 53, and a fourth driving unit 54.

The second gantry 52 is mounted on the first rail assembly 11, and the second gantry 52 can slide along the first rail assembly 11. The third driving unit 53 is used for driving the second gantry 52 to slide along the first guiding rail assembly 11, and specifically, the third driving unit 53 includes a seventh servo motor 531 and a third gear 532. Wherein, the seventh servo motor 531 is fixedly installed on the second gantry 52; the third gear 532 is fixedly sleeved on a motor shaft of the seventh servo motor 531, and the third gear 532 is meshed with the second rack 442, so that the seventh servo motor 531 can drive the second gantry 52 to slide along the first guide rail assembly 11 through the third gear 532 and the second rack 442. Preferably, the third gear 532 is a helical gear. Similarly, in other embodiments, the third driving unit 53 may also be a combination structure of a servo motor and a linear module.

The fourth driving unit 54 is fixedly installed on the second gantry 52, and the welding torch 51 is fixedly installed on the actuating end of the fourth driving unit 54. Among them, the fourth drive unit 54 includes a sixth drive mechanism 541, a seventh drive mechanism 542, an eighth drive mechanism 543, and a ninth drive mechanism 544.

The sixth driving mechanism 541 includes a fourth linear module 5411 and an eighth servo motor 5412, the fourth linear module 5411 is fixedly installed on the second gantry 52, and a fourth lead screw of the fourth linear module 5411 extends along the second direction Y. The eighth servo motor 5412 is installed on the fourth linear module 5411, and the eighth servo motor 5412 is configured to drive the fourth lead screw to rotate, so that the fourth sliding table of the fourth linear module 5411 drives the welding gun 51 to move in the second direction Y.

The seventh driving mechanism 542 includes a fifth linear module 5421 and a ninth servo motor 5422, the fifth linear module 5421 is fixedly mounted on the fourth sliding table of the fourth linear module 5411, and a fifth lead screw of the fifth linear module 5421 extends in the height direction Z. The ninth servo motor 5422 is installed on the fifth linear module 5421, and the ninth servo motor 5422 is configured to drive the fifth lead screw to rotate, so that the fifth sliding table of the fifth linear module 5421 drives the welding gun 51 to move in the height direction Z.

The eighth driving mechanism 543 includes a tenth servo motor 5431 and a second connecting seat 5432, the tenth servo motor 5431 is installed on the fifth sliding table of the fifth linear module 5421, and the axis of the motor shaft of the tenth servo motor 5431 is a third rotation axis. The motor shaft of the second connecting seat 5432 and the tenth servo motor 5431 is fixedly connected, so that the tenth servo motor 5431 can drive the second connecting seat 5432 to rotate around the third rotation axis, and further the second connecting seat 5432 drives the welding gun 51 to rotate around the third rotation axis.

The ninth driving mechanism 544 includes an eleventh servo motor 5441, a second divider 5442, and a second mounting seat 5443, the second divider 5442 is mounted on the second connecting seat 5432, the eleventh servo motor 5441 is mounted on the second divider 5442, and a motor shaft of the eleventh servo motor 5441 is in butt joint with an input shaft of the second divider 5442 to drive the input shaft of the second divider 5442 to rotate. An output shaft of the second divider 5442 is fixedly connected with the second mounting seat 5443, and the welding torch 51 is fixedly mounted on the second mounting seat 5443, wherein an axis of the output shaft of the second divider 5442 is a fourth rotation axis, so that the second mounting seat 5443 can rotate the welding torch 51 around the fourth rotation axis.

It can be seen that through the structural design of the fourth driving unit 54, the welding gun 51 can move in space, the welding mode of the welding gun 51 is optimized, and the welding gun 51 can have a greater freedom of movement, so that the welding gun 51 can perform more comprehensive welding processing on the aluminum template 10, and the existence of a welding dead angle is avoided.

Preferably, the number of the welding robots 5 is two or more, and the two or more welding robots 5 are distributed in the first direction X, e.g., in the present embodiment, the number of the welding robots 5 is two, and both the welding robots 5 are located at the downstream end of the vision system 4 in the above feeding direction. The quantity of welding robot 5 sets up to more than two so that when aluminium template 10 length is great, welding robot 5 that laser sensing intelligence welding robot 100 can control more than two carries out subregion synchronous welding processing to aluminium template 10 to can promote laser sensing intelligence welding robot 100's welding efficiency by a wide margin, and can satisfy big batch processing demand.

As shown in fig. 1, a hood 6 is housed on a part of the frame 1, and the vision system 4 and the welding robot 5 are located inside the hood 6. The hood 6 can avoid the influence of external illumination on the scanning operation of the vision system 4, so as to ensure the scanning precision, the scanning accuracy and the scanning reliability of the vision system 4; and the welding smoke generated in the welding process of the welding robot 5 can be diffused, so that the surrounding environment of the laser sensing intelligent welding robot 100 is prevented from being polluted. In addition, the top of aircraft bonnet 6 is provided with exhaust port 61, and exhaust port 61 is used for welding the butt joint of cigarette clarification plant with the peripheral hardware to make and weld the cigarette clarification plant and can take away the cigarette that welds of aircraft bonnet 6 through exhaust port 61, in order to avoid welding the scanning operation that the cigarette influences visual system 4 and welding robot 5's welding process, and discharge after handling welding cigarette, avoid welding the cigarette polluted environment.

The quantity of safety grating 7 is two, and two safety gratings 7 all install on frame 1, and two safety gratings 7 all are located aircraft bonnet 6. Two safety gratings 7 are distributed on two opposite sides of the rack 1 along the second direction Y, and safety accidents in the production process can be better avoided due to the arrangement of the safety gratings 7

Referring to fig. 12, the torch calibration unit 8 is mounted on the frame 1, the torch calibration unit 8 includes a third correlation type photosensor 81 and a fourth correlation type photosensor 82, a third emitting end 811 and a third receiving end 812 of the third correlation type photosensor 81 are arranged in the first direction X, a fourth emitting end 821 and a fourth receiving end 822 of the fourth correlation type photosensor 82 are arranged in the second direction Y, and the torch calibration unit 8 is configured to calibrate the position of the torch 51 of the welding robot 5.

The working process of the laser sensing intelligent welding robot 100 is briefly described as follows:

when the 3D laser scanner 41 needs to be calibrated, the first driving unit 44 and the second driving unit 45 cooperate to move the 3D laser scanner 41 to the calibration block 42, and control the 3D laser scanner 41 to scan the calibration block 42 to obtain the position information and each standard size parameter information of the calibration block 42; then, the control center judges whether the position and the scanning precision of the 3D laser scanner 41 are accurate or not according to the set calibration program, the stored standard size parameters of the calibration block 42, and the absolute position information of the calibration block 42 in the world coordinates, and when the position and/or the scanning precision of the 3D laser scanner 41 are not accurate and can be calibrated, calibrates the position and/or the scanning precision of the 3D laser scanner 41, and generates a new configuration table and stores the new configuration table in the control center; further, when the configuration table is updated, the control center calculates the work coordinates of the welding gun 51 on the welding robot 5 with the new configuration table, thereby making the consistency of the associated data between the 3D laser scanner 41 and the welding robot 5.

When the position of the welding torch 51 needs to be calibrated, the third driving unit 53 and the fourth driving unit 54 cooperate to move the welding torch 51 to the welding torch calibration unit 8, and detect the position of the welding torch 51 in the first direction X, the second direction Y, and the height direction Z, respectively, in combination with the third correlation type photoelectric sensor 81 and the fourth photoelectric sensor, so as to determine whether the position of the welding torch 51 is accurate. When the position of the welding gun 51 in the first direction X is inaccurate and can be calibrated, the control center calibrates the position of the welding gun 51, and simultaneously generates a new configuration table to be stored in the control center; when the position of the welding gun 51 in the second direction Y is inaccurate and can be calibrated, the control center calibrates the position of the welding gun 51, and generates a new configuration table and stores the new configuration table in the control center; when the position of the welding gun 51 in the height direction Z is inaccurate and can be calibrated, the control center calibrates the position of the welding gun 51, and simultaneously generates a new configuration table to be stored in the control center; in addition, the control center calibrates the welding angle of the welding gun 51 according to a set calibration program, and when the welding angle is inaccurate and can be calibrated, the control center calibrates the welding angle of the welding gun 51 and generates a new configuration table to be stored in the control center. When any of the above detections by the welding gun 51 is abnormal, the control center performs error reporting processing.

When the aluminum template 10 needs to be welded, a first aluminum template 10 is placed on the first aluminum template fixture 2, at this time, the control center detects whether the aluminum template 10 is placed on the aluminum template fixture 2 through the first paired photoelectric sensors 25 on the aluminum template fixture 2, detects whether the placement position of the aluminum template 10 is accurate through the second paired photoelectric sensors 26, and detects the length of the aluminum template 10 through the distance measuring sensor 27. When the aluminum template 10 is placed on the aluminum template fixture 2 and the placing position of the aluminum template 10 is accurate, the pressing unit 22 of the aluminum template fixture 2 presses the aluminum template 10, so that the copper bar 23 is in contact with the aluminum template 10. Meanwhile, the control center controls the first driving device 3 to move the aluminum mold plate holder 2 to the first vision system 4 according to the detected length of the aluminum mold plate 10, and positions the aluminum mold plate holder 2.

Then, the control center controls and coordinates the operations of the first driving device 3 and the first vision system 4, so that the 3D laser scanner 41 of the vision system 4 scans the first aluminum mold plate 10 to acquire welding data required by the first welding robot 5.

Then, the control center controls and coordinates the first driving device 3 and the operation of at least one first welding robot 5 so that the welding torch 51 of the first welding robot 5 performs welding processing on the aluminum mold 10 on the first aluminum mold clamp 2. Meanwhile, the control center obtains whether the aluminum template 10 on the second aluminum template clamp 2 is welded, if so, a new aluminum template 10 is placed on the second aluminum template clamp 2, and if not, the control center waits for the aluminum template 10 on the second aluminum template clamp 2 to be welded. The step of placing a new aluminum mold plate 10 on the second aluminum mold plate holder 2 is the same as the step of placing a new aluminum mold plate 10 on the first aluminum mold plate holder 2, and therefore, the description thereof will not be repeated.

During the welding process of the aluminum template 10, the control center adjusts the number of the welding robots 5 required to participate simultaneously according to the scanning result of the vision system 4. After the welding of the aluminum template 10 is completed, the control center controls the driving device 3 to transfer the aluminum template clamp 2 loaded with the aluminum template 10 to the loading position, and controls the pressing unit 22 of the aluminum template clamp 2 to release the pressing of the aluminum template 10, so as to replace the aluminum template clamp 2 with a new aluminum template 10 to be processed.

In conclusion, through the structural design of the intelligent laser sensing welding robot, when the vision system scans the aluminum template on one aluminum template clamp, the welding robot can weld the aluminum template on the other aluminum template clamp, so that the no-load waiting time of the welding robot is eliminated or reduced, the welding efficiency of the intelligent laser sensing welding robot is effectively improved, and the intelligent laser sensing welding robot can meet the requirement of mass processing.

Finally, it should be emphasized that the above-described embodiments are merely preferred examples of the present invention, and are not intended to limit the invention, as those skilled in the art will appreciate that various changes and modifications may be made, and any and all modifications, equivalents, and improvements made, while remaining within the spirit and principles of the present invention, are intended to be included within the scope of the present invention.

Claims

1. An aluminum form clamp, comprising

A tray having a receiving location;

the pressing unit comprises a pressing component and a driving mechanism, the pressing component is located in the accommodating position and extends along a first direction, the pressing component is arranged close to a first side wall of the tray, an output end of the driving mechanism is fixedly connected with the pressing component, the driving mechanism drives the pressing component to move relative to a second side wall of the tray in a second direction, the first direction is perpendicular to the second direction, and the second side wall is parallel to the first side wall;

the copper bar, the copper bar is followed first direction extends, the copper bar is installed the pressure subassembly is just right on the surface of second lateral wall.

2. The aluminum die plate clamp of claim 1, wherein:

3. The aluminum die plate clamp of claim 2, wherein:

the aluminum mould clamp further comprises a roller shaft group, the roller shaft group is located in the containing position and located below the pressing assembly, the roller shaft group comprises a plurality of rollers distributed in the first direction, the rollers extend in the second direction, and the rollers are rotatably connected with the tray around the axes of the rollers.

4. The aluminum die plate clamp of claim 2, wherein:

the aluminum template clamp further comprises a first correlation type photoelectric sensor, the first correlation type photoelectric sensor is positioned between the opening and the pressing assembly, and the first correlation type photoelectric sensor comprises a first emitting end and a first receiving end;

one of the first transmitting end and the first receiving end is mounted on the first side wall, and the other is mounted on the second side wall.

5. The aluminum formwork clamp of claim 4, wherein:

the aluminum template clamp further comprises a second opposite-emission type photoelectric sensor, the second opposite-emission type photoelectric sensor is arranged at the opening and comprises a second emitting end and a second receiving end;

one of a second transmitting end and a second receiving end is mounted on the first sidewall and the other is mounted on the second sidewall.

6. The aluminum die plate clamp of claim 2, wherein:

the aluminum template clamp further comprises a distance measuring sensor, the distance measuring sensor is arranged on the third side wall, and the detection end of the distance measuring sensor is located above the containing position and faces the opening.

7. The aluminum formwork clamp of any one of claims 1 to 6, wherein:

the pressing assembly comprises a connecting rod, a pressing rod and a spring, the connecting rod extends along the first direction, the connecting rod is fixedly connected with the driving end of the driving mechanism, the pressing rod is located between the connecting rod and the second side wall, the pressing rod extends along the first direction, more than two connecting shafts distributed along the first direction are arranged on the pressing rod, the connecting shafts extend along the second direction and are connected with the connecting rod in a sliding manner, the copper bar is installed on the pressing rod, and two ends of the spring are respectively abutted to the connecting rod and the pressing rod;

the driving mechanism comprises a linear module and a motor, a lead screw of the linear module extends along the second direction, a sliding table of the linear module is fixedly connected with the pressing component, and the motor drives the lead screw to rotate, or

The driving mechanism comprises an electric cylinder, a push rod of the electric cylinder extends along the second direction, and the push rod is fixedly connected with the pressing assembly.

8. The aluminum formwork clamp of any one of claims 1 to 6, wherein:

the number of the pressing units is more than two, and the pressing units are distributed along the first direction.

9. Laser sensing intelligence welding robot, including vision system, welding robot and drive arrangement, characterized by, still includes the aluminium template anchor clamps of any one of above-mentioned claims 1 to 8, drive arrangement drive the aluminium template anchor clamps move between the vision system and the welding robot.

10. The laser sensing intelligent welding robot of claim 9, characterized in that:

the driving device includes:

a rail assembly extending in the first direction, the aluminum form clamp slidably mounted on the rail assembly;

a rack parallel to the rail assembly;

the servo motor is installed on the aluminum template fixture, a gear is fixedly installed on a motor shaft of the servo motor, and the gear is meshed with the rack.