CN219425990U - Linear structured light weld joint tracking system - Google Patents

Abstract

The utility model relates to the technical field of weld joint detection, and particularly discloses a linear optical weld joint tracking system. The system comprises a swing arm, a tracking module and a welding gun module; the swinging arm is connected with the tracking module through the moving module, and the moving module can enable the swinging arm and the tracking module to move relatively in a working plane; one of the mobile module and the swing arm is provided with a connecting shaft, and the other is provided with a connecting ring; one of the welding gun module and the swing arm is provided with a connecting shaft, the other is provided with a connecting ring, the connecting ring is sleeved on the connecting shaft, the connecting ring is selectively sleeved on the connecting shaft, the welding gun module can rotate around the axis of the connecting shaft, and the axis of the connecting shaft is parallel to a first direction which is positioned in a working plane. According to the system, the swing arm and the moving module are used for realizing free movement of the welding gun module on four degrees of freedom, so that the adjustment requirements of angles and positions of the visual sensors when welding different types of welding seams are met, and the posture of the system can be adjusted according to different welding environments.

Description

Linear structured light weld joint tracking system

Technical Field

The utility model relates to the technical field of weld joint detection, in particular to a linear structure light weld joint tracking system.

Background

The bridge steel structure partition plate is an indispensable component part for building bridges, is one of large-scale nonstandard national infrastructure equipment in recent years, has the characteristics of good stability and the like, and has important importance in China with high-speed development of economy. Therefore, the bridge steel structure partition board has huge demand, and the production property of the bridge steel structure partition board has the characteristics of large batch, non-standard parts, high quality requirement and the like. Because of the huge production requirements and high production requirements, domestic enterprises generally use traditional manual welding to meet the requirements. However, the traditional manual welding is affected by factors such as the technical level of a welder, the welding precision is low, the efficiency is low, a large amount of harmful substances which affect the health of workers, such as smoke dust, welding spatter, arc light and the like are easily generated, the welder is not suitable for long-time work, the production efficiency is further affected, and the efficient, stable and continuous welding requirements are difficult to meet. With the development of automatic welding technology, more and more welding occasions adopt welding robots to carry out automatic welding, so that the welding quality is improved, and the welding efficiency is also gradually improved.

In the prior art, under the condition that the shape of a welding seam is relatively single and fixed, welding is performed by a welding robot based on teaching reproduction, and the welding robot based on teaching reproduction can ensure the stability of welding quality while improving certain welding efficiency. However, when a welding line with a complex track (such as a space curve type welding line) needs longer manual teaching time, which causes complicated operation of the robot, and stability of welding quality is difficult to ensure, especially in welding occasions with small-batch welding and non-uniform welding track, the worker teaching robot occupies most of working time, and even welding efficiency is reduced by adopting the welding robot.

For different types of bridge deck, there will often be different types of welds for which it is desirable to adjust the position of the vision sensor. In addition, when the welding robot performs the sweep welding, a distance is needed between the visual sensor and the welding gun to buffer the identification of the image, and the distance determines the number of welding points which can be received per second when the welding robot performs the sweep welding, so that the adjustment is needed according to the actual situation.

Disclosure of Invention

The utility model aims to provide a linear structure optical weld joint tracking system so as to expand the moving range of a welding gun, so that the gesture of the welding gun can be adaptively adjusted according to different welding environments, and the flexibility of work is improved.

To achieve the purpose, the utility model adopts the following technical scheme:

the linear structure light weld joint tracking system comprises a swinging arm, a tracking module and a welding gun module; the swinging arm is connected with the tracking module through a moving module, and the moving module can enable the swinging arm and the tracking module to move relatively in a working plane; one of the moving module and the swinging arm is provided with a first connecting shaft, the other one is provided with a first connecting ring, the first connecting ring is sleeved on the first connecting shaft, the first connecting ring is selectively sleeved on the first connecting shaft, the swinging arm can rotate around the axis of the first connecting shaft, and the axis of the first connecting shaft is parallel to the first direction; one of the welding gun module and the swing arm is provided with a second connecting shaft, the other one is provided with a second connecting ring, the second connecting ring is sleeved on the second connecting shaft, the second connecting ring is selectively sleeved on the second connecting shaft, the welding gun module can rotate around the axis of the second connecting shaft, and the axis of the second connecting shaft is parallel to the first direction; wherein the first direction is in the working plane.

As the optimal technical scheme of line structure light welding seam tracking system, first buffer tank has been link up to first go-between, the both sides of first buffer tank are equipped with two relative first locating pieces, two the first locating piece can pass through retaining member locking connection.

As the preferable technical scheme of the line structure light welding seam tracking system, the first locating block is penetrated with a first locking hole, and the locking piece can be simultaneously penetrated into the two first locking holes.

As the optimal technical scheme of the line structure light welding seam tracking system, the second connecting ring is penetrated with a second buffer groove, two opposite second positioning blocks are arranged on two sides of the second buffer groove, and the two second positioning blocks can be locked and connected through a locking piece.

As the preferable technical scheme of the line structure light welding seam tracking system, the second locating block is penetrated with a second locking hole, and the locking piece can be simultaneously penetrated into the two second locking holes.

As a preferred technical scheme of the line structure light welding seam tracking system, the locking piece comprises a locking bolt and a self-locking gasket, and the self-locking gasket can lock a screw rod connected to the locking bolt.

As the preferable technical scheme of the linear structure light welding seam tracking system, a fixed rail is fixedly connected to the tracking module, a sliding block is arranged on the fixed rail in a sliding manner, and the sliding block can slide relative to the fixed rail along a second direction; the movable beam is movably arranged on the sliding block, can slide along the first direction relative to the sliding block, and is connected with the swing arm.

As the preferable technical scheme of the line structure light welding seam tracking system, a plurality of positioning holes are uniformly distributed on the fixed rail along the second direction at intervals, the sliding block penetrates through a sliding block through hole, and the positioning pin can penetrate through the sliding block through hole and be inserted into any one of the positioning holes.

As the preferable technical scheme of the line structure light welding seam tracking system, the positioning pin comprises a positioning bolt, the positioning hole is provided with internal threads, and the positioning bolt is in threaded connection with the internal threads.

As a preferred solution of the line structure light seam tracking system, the first direction is perpendicular to the second direction.

The utility model has the beneficial effects that:

the linear structure optical weld joint tracking system enables the relative position of the welding gun module and the tracking module to be adjustable in a working plane by virtue of the design of the mobile module; the welding gun module is combined with the design that the swinging arm rotates around the first direction relative to the moving module and the welding gun module rotates around the first direction relative to the swinging arm, so that the position and the angle of the welding gun module relative to the tracking module in a plane perpendicular to the first direction are adjusted, the welding gun module can freely move in four degrees of freedom through the combination of the design of the first direction and the design of the first direction in a working plane, the posture adjustment of the welding gun module is realized, the requirements of the welding gun module on the adjustment of the relative angle and the relative position of the welding gun module when welding different types of welding seams are met, and the posture of the line structure optical welding seam tracking system can be adjusted appropriately according to different welding environments.

Drawings

FIG. 1 is a schematic diagram of a line structured light weld tracking system provided by an embodiment of the present utility model;

FIG. 2 is a partial exploded view of a line structured light weld tracking system provided by an embodiment of the present utility model;

fig. 3 is a partial enlarged view of a in fig. 2.

In the figure:

x, a first direction; z, the second direction; y, third direction;

110. a welding gun body; 120. a welding gun clamp; 200. a swing arm; 220. a first connecting shaft; 310. a fixed rail; 311. positioning holes; 320. a sliding block; 321. a slider through hole; 330. a moving beam; 331. liang Huagui; 332. a first connection ring; 333. a first positioning block; 334. a first locking hole; 335. a first buffer tank; 400. and a tracking module.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first location" and "second location" are two distinct locations and wherein the first feature is "above," "over" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is level above the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

As shown in fig. 1-3, the present embodiment provides a wire structured light weld tracking system including a swing arm 200, a tracking module 400, and a welding gun module; the swing arm 200 is connected with the tracking module 400 through a moving module, and the moving module can enable the swing arm 200 and the tracking module 400 to relatively move in a working plane; one of the moving module and the swing arm 200 is provided with a first connecting shaft 220, the other one is provided with a first connecting ring 332, the first connecting ring 332 is sleeved on the first connecting shaft 220, the first connecting ring 332 is selectively sleeved on the first connecting shaft 220, the swing arm 200 can rotate around the axis of the first connecting shaft 220, and the axis of the first connecting shaft 220 is parallel to the first direction X; one of the welding gun module and the swing arm 200 is provided with a second connecting shaft, the other is provided with a second connecting ring, the second connecting ring is sleeved on the second connecting shaft, the second connecting ring is selectively sleeved on the second connecting shaft, the welding gun module can rotate around the axis of the second connecting shaft, and the axis of the second connecting shaft is parallel to the first direction X; wherein the first direction X is located in the working plane.

The linear structure optical weld joint tracking system enables the relative position of the welding gun module and the tracking module 400 to be adjustable in a working plane by virtue of the design of the mobile module; the welding gun module is combined with the design that the swinging arm 200 rotates around the first direction X relative to the moving module and the welding gun module rotates around the first direction X relative to the swinging arm 200, the position and the angle of the welding gun module relative to the tracking module 400 in the plane vertical to the first direction X are adjusted, the welding gun module can freely move in four degrees of freedom by combining with the design that the first direction X is positioned in a working plane, so that the posture adjustment of the welding gun module can be realized, the adjustment requirements of the relative angle and the relative position of the welding gun module and the tracking module 400 when welding different types of welding seams are met, and the posture of the linear structured light welding seam tracking system can be properly adjusted according to different welding environments.

The first connecting ring 332 is matched with the first connecting shaft 220 and the second connecting ring is sleeved on the second connecting shaft, so that the rotation connection between the tracking module 400 and the swing arm 200 and between the swing arm 200 and the welding gun module is realized, the position and the angle of the welding gun module and the swing arm 200 can be adjusted according to expectations, and after the welding gun module and the swing arm 200 are adjusted to proper positions and angles, the fastening positioning is realized in a sleeved mode.

Illustratively, the welding gun module includes a welding gun body 110 and a welding gun clamp 120, the welding gun clamp 120 is used for clamping the welding gun body 110, and the welding gun body 110 is connected with the swing arm 200.

In the present embodiment, the first connecting ring 332 is penetrated with a first buffer slot 335, two opposite first positioning blocks 333 are arranged at two sides of the first buffer slot 335, and the two first positioning blocks 333 can be locked and connected by a locking member; the second connecting ring is communicated with a second buffer groove, two opposite second positioning blocks are arranged on two sides of the second buffer groove, and the two second positioning blocks can be locked and connected through a locking piece.

When the two positioning blocks are locked and connected through the locking piece, the connecting ring clamps the connecting shaft by utilizing the ductility of metal. When the locking member is released, the connecting ring is restored to the original shape by utilizing the toughness of the metal, so that the connecting shaft can flexibly rotate around the first direction X.

The arrangement of the first buffer groove 335 and the second buffer groove respectively enables the first connecting ring 332 and the second connecting ring to have the capability of recovering deformation, so that friction fastening can be realized between the two first positioning blocks 333 and between the two second positioning blocks in a locking connection mode through the locking pieces, the effect of adjusting the distance is achieved, and further, the action of tightening the inner ring of the first connecting ring 332 and the inner ring of the second connecting ring can be realized. With the above design, the purpose that the first connecting ring 332 is sleeved on the first connecting shaft 220 and the second connecting ring is selectively sleeved on the second connecting shaft in this embodiment is achieved.

Further, the first positioning block 333 is provided with a first locking hole 334, and the locking member can be simultaneously connected to the two first locking holes 334 in a penetrating manner; the second locating block is penetrated with a second locking hole, and the locking piece can be simultaneously penetrated into the two second locking holes. The arrangement of the first locking hole 334 and the second locking hole provides a plugging space for the locking piece, ensures the stability of locking connection between the two first positioning blocks 333 and between the two second positioning blocks, reduces the risk of unexpected sleeving and ensures the working stability of the linear structure optical weld tracking system.

Specifically, the locking member includes a locking bolt and a self-locking washer that can lock a threaded rod attached to the locking bolt. By means of the cooperation of the locking bolts and the self-locking washers, the screw rods of the locking bolts penetrating through the two first positioning blocks 333 or the two second positioning blocks can be easily locked, so that the locking effect is guaranteed, and the connecting ring is guaranteed to be stably sleeved on the connecting shaft.

Specifically, the first connecting ring 332 is disposed on the moving beam 330, and the first connecting shaft 220 is disposed on the swing arm 200; the second connecting ring is arranged on the swing arm 200, and the second connecting shaft is arranged on the welding gun clamp 120.

In this embodiment, the tracking module 400 is fixedly connected with a fixed rail 310, a sliding block 320 is slidably disposed on the fixed rail 310, and the sliding block 320 can slide along the second direction Z relative to the fixed rail 310; the sliding block 320 is movably provided with a moving beam 330, the moving beam 330 can slide relative to the sliding block 320 along the first direction X, and the moving beam 330 is connected with the swing arm 200. By adjusting the position of the moving beam 330, the swing arm 200 can be moved in the first direction X relative to the tracking module 400; by adjusting the position of the slider 320, the swing arm 200 can be moved in the second direction Z relative to the tracking module 400. The above moving module is simple and effective in design, and the swinging arm 200 can move along the first direction X and the second direction Z by adjusting the bidirectional sliding blocks, so that the accurate adjustment of the relative position between the swinging arm 200 and the tracking module 400 is realized, and the swinging arm 200 can move relative to the tracking module 400 in a working plane.

Specifically, the moving beam 330 is provided with a Liang Huagui 331 extending along the first direction X, and the sliding block 320 is fixedly provided with a sliding block pin in sliding fit with the Liang Huagui 331.

Illustratively, the first direction X is perpendicular to the second direction Z. The design optimizes the structure of the mobile module, reduces the difficulty of adjusting the relative position between the swing arm 200 and the tracking module 400, and improves the working efficiency of the mobile module. Specifically, there is also a third direction Y perpendicular to the first direction X, and the third direction Y is perpendicular to the second direction Z, and the swing arm 200 located in the plane of the second direction Z and the third direction Y rotates around the first direction X.

Further, a plurality of positioning holes 311 are uniformly distributed on the fixed rail 310 along the second direction Z at intervals, the sliding block 320 is penetrated by a sliding block through hole 321, and the positioning pin can penetrate through the sliding block through hole 321 and be inserted into any one of the positioning holes 311.

In this embodiment, the adjustment modes of the movement along the first direction X and the rotation about the first direction X are stepless adjustment, so that the adjustment operation of the relative position and angle between the tracking module 400 and the welding gun module can be accurately realized in the above design; and the movement in the second direction Z is used as gear adjustment, so that the fixation of the linear structure light welding seam tracking system is vertical, firm and reliable.

Illustratively, the locating pin includes a locating bolt with internal threads in which the locating hole 311 is threaded. The design is simple and reliable, and the screw rod of the positioning bolt can be smoothly matched with the positioning hole 311 in a threaded manner after passing through the sliding block through hole 321, so that the positioning accuracy of the sliding block 320 on the fixed rail 310 is ensured.

In this embodiment, the adjustment of the relative position between the components is simple and reliable, and the adjustment of the connection state between the fixed rail 310 and the sliding block 320 can be realized by means of the elastic positioning pin; the connection state between the connecting ring and the connecting shaft can be adjusted by loosening and tightening the locking piece.

Specifically, the positioning holes 311 are threaded holes, and 13 equally spaced threaded holes are formed in the fixed rail 310, so that the above design is further convenient for a worker to select a proper height in the second direction Z for adjustment.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. Line structured light weld tracking system, characterized by comprising:

a tracking module (400) and a welding gun module;

a swing arm (200) connected to the tracking module (400) by a movement module, the movement module enabling the swing arm (200) and the tracking module (400) to move relative to each other in a working plane;

one of the moving module and the swinging arm (200) is provided with a first connecting shaft (220), the other one is provided with a first connecting ring (332), the first connecting ring (332) is sleeved on the first connecting shaft (220), the first connecting ring (332) is selectively sleeved on the first connecting shaft (220), the swinging arm (200) can rotate around the axis of the first connecting shaft (220), and the axis of the first connecting shaft (220) is parallel to a first direction (X);

one of the welding gun module and the swing arm (200) is provided with a second connecting shaft, the other one is provided with a second connecting ring, the second connecting ring is sleeved on the second connecting shaft, the second connecting ring is selectively sleeved on the second connecting shaft, the welding gun module can rotate around the axis of the second connecting shaft, and the axis of the second connecting shaft is parallel to the first direction (X); wherein the first direction (X) is located in the working plane.

2. The line structure light seam tracking system according to claim 1, wherein the first connecting ring (332) is penetrated by a first buffer slot (335), two opposite first positioning blocks (333) are arranged at two sides of the first buffer slot (335), and the two first positioning blocks (333) can be locked and connected by a locking member.

3. The line structured light weld tracking system of claim 2, wherein a first locking hole (334) is formed through the first positioning block (333), and the locking member is capable of simultaneously penetrating through two of the first locking holes (334).

4. The line structured light weld tracking system according to claim 1, wherein the second connecting ring is penetrated by a second buffer slot, two opposite second positioning blocks are arranged on two sides of the second buffer slot, and the two second positioning blocks can be locked and connected by a locking member.

5. The line structured light weld tracking system of claim 4, wherein a second locking hole is formed through the second positioning block, and the locking member is capable of simultaneously penetrating through two of the second locking holes.

6. The line structured light weld tracking system of any of claims 2-5, wherein the locking member comprises a locking bolt and a self-locking washer capable of locking a threaded rod coupled to the locking bolt.

7. The line structure light welding seam tracking system according to claim 1, wherein a fixed rail (310) is fixedly connected to the tracking module (400), a sliding block (320) is slidably arranged on the fixed rail (310), and the sliding block (320) can slide relative to the fixed rail (310) along a second direction (Z); the sliding block (320) is movably provided with a moving beam (330), the moving beam (330) can slide relative to the sliding block (320) along the first direction (X), and the moving beam (330) is connected with the swing arm (200).

8. The line structured light weld tracking system according to claim 7, wherein a plurality of positioning holes (311) are uniformly distributed on the fixed rail (310) at intervals along the second direction (Z), the sliding block (320) is penetrated by a sliding block through hole (321), and a positioning pin can penetrate through the sliding block through hole (321) and be inserted into any one of the positioning holes (311).

9. The line structured light weld tracking system of claim 8, wherein the locating pin comprises a locating bolt, the locating hole (311) is provided with internal threads, and the locating bolt is in threaded connection with the internal threads.

10. The line structured light weld tracking system of claim 7, wherein the first direction (X) is perpendicular to the second direction (Z).