CN219425990U - Line Structured Light Seam 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

Line Structured Light Seam Tracking System

technical field

The utility model relates to the technical field of weld seam detection, in particular to a line structured light weld seam tracking system.

Background technique

Bridge steel structure diaphragm is an essential part of bridge construction, and it is one of the large-scale non-standard national infrastructure equipment that has appeared in recent years. It has good stability and other characteristics, and plays an important role in China's rapid economic development. Therefore, there is a huge demand for bridge steel structure partitions, and its production nature has the characteristics of large batches, non-standard parts, and high-quality requirements. Due to its huge production demand and high production requirements, domestic enterprises generally use traditional manual welding to meet the demand. However, traditional manual welding is affected by factors such as the welder's technical level. The welding accuracy is low, the efficiency is low, and it is easy to produce a large amount of smoke, welding spatter, arc light and other harmful substances that affect the health of workers. As a result, welders are not suitable for long-term work and affect production efficiency. , it is difficult to meet the needs of efficient, stable and continuous welding. With the development of automatic welding technology, more and more welding occasions use welding robots for automatic welding, the welding quality is improved, and the welding efficiency is gradually improved.

In the prior art, under the condition that the shape of the weld seam is relatively single and fixed, a teaching reproduction welding robot is often used for welding. The teaching reproduction welding robot can improve a certain welding efficiency while ensuring the stability of welding quality. However, for welds with complex trajectories (such as space curve welds), longer manual teaching time is required, which makes the operation of the robot cumbersome, and it is difficult to guarantee the stability of welding quality, especially for small batch welding and welding. In the welding occasions where the seam trajectory is not uniform, the worker teaching robot will occupy most of the working time, and the use of welding robot will even reduce the welding efficiency.

For different types of bridge diaphragms, there are often different types of welds, and the position of the visual sensor needs to be adjusted for different types of welds. In addition, when welding while scanning, there needs to be a distance between the visual sensor and the welding torch to buffer the image recognition. This distance determines the number of weld points that the welding robot can receive per second while scanning and welding. The quantity needs to be adjusted according to the actual situation.

Utility model content

The purpose of the utility model is to provide a line-structured light welding seam tracking system to expand the range of movement of the welding torch, so that the posture of the welding torch can be adjusted adaptively for different welding environments, thereby improving the flexibility of work.

For this purpose, the utility model adopts the following technical solutions:

The line structured light seam tracking system includes a swing arm, a tracking module and a welding torch module; the swing arm is connected to the tracking module through a moving module, and the moving module can make the swing arm and the tracking module work relative movement in a plane; one of the moving module and the swing arm is provided with a first connection shaft, and the other is provided with a first connection ring, and the first connection ring is sleeved on the first connection shaft, and The first connecting ring is selectively sleeved on the first connecting shaft, the swing 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; the One of the welding torch module and the swing arm is provided with a second connection shaft, and the other is provided with a second connection ring, and the second connection ring is sleeved on the second connection shaft, and the second connection ring selects Sexually sleeved on the second connection shaft, the torch module can rotate around the axis of the second connection shaft, the axis of the second connection shaft is parallel to the first direction; wherein, the first direction in the working plane.

As an optimal technical solution of the line-structured light seam tracking system, the first connecting ring is penetrated with a first buffer groove, and two opposite first positioning blocks are arranged on both sides of the first buffer groove, and the two The first positioning block can be locked and connected by a locking member.

As an optimal technical solution of the line-structured light seam tracking system, the first positioning block is penetrated with a first locking hole, and the locking member can pass through two of the first locking holes at the same time.

As an optimal technical solution of the line-structured light seam tracking system, the second connecting ring is penetrated with a second buffer groove, and two opposite second positioning blocks are arranged on both sides of the second buffer groove, and the two The second positioning block can be locked and connected by a locking member.

As an optimal technical solution of the line-structured light seam tracking system, the second positioning block is penetrated with a second locking hole, and the locking member can pass through two of the second locking holes at the same time.

As a preferred technical solution of the wire structured light seam tracking system, the locking member includes a locking bolt and a self-locking washer, and the self-locking washer can lock the screw connected to the locking bolt.

As an optimal technical solution of the line-structured light seam tracking system, the tracking module is fixedly connected with a fixed rail, and a sliding block is slid on the fixed rail, and the sliding block can slide relative to the fixed rail along the second direction A moving beam is movably installed on the sliding block, the moving beam can slide relative to the sliding block along the first direction, and the moving beam is connected with the swing arm.

As an optimal technical solution of the line-structured light seam tracking system, a plurality of positioning holes are evenly distributed on the fixed rail along the second direction, the sliding block is penetrated with a sliding block through hole, and the positioning pin can pass through the The through hole of the slider is inserted into any one of the plurality of positioning holes.

As a preferred technical solution of the line-structured light seam tracking system, the positioning pin includes a positioning bolt, the positioning hole is provided with an internal thread, and the positioning bolt is threadedly connected to the internal thread.

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

The beneficial effects of the utility model:

The line structured light seam tracking system uses the design of the moving module to make the relative position of the welding gun module and the tracking module adjustable in the working plane; combined with the rotation of the swing arm relative to the moving module around the first direction and the relative swing arm of the welding gun module around the first The design of direction rotation realizes the adjustment of the position and angle of the welding torch module relative to the tracking module in a plane perpendicular to the first direction. Combined with the design that the first direction is located in the working plane, it ensures that the welding torch module can Free movement, thus the attitude adjustment of the welding torch module can be realized, which meets the adjustment requirements of the relative angle and relative position of the welding torch module and the tracking module when welding different types of welds, so that the attitude of the line structured light welding seam tracking system can be adjusted Make appropriate adjustments for different welding environments.

Description of drawings

Fig. 1 is a schematic structural diagram of a line-structured light seam tracking system provided by an embodiment of the present invention;

Fig. 2 is a partial exploded view of the line-structured light seam tracking system provided by the embodiment of the present invention;

Fig. 3 is a partially enlarged view of A in Fig. 2 .

In the picture:

X, the first direction; Z, the second direction; Y, the third direction;

110, welding gun body; 120, welding gun clamp; 200, swing arm; 220, first connecting shaft; 310, fixed rail; 311, positioning hole; 320, sliding block; 321, sliding block through hole; 330, moving beam; 331 . Beam slide rail; 332. The first connecting ring; 333. The first positioning block; 334. The first locking hole; 335. The first buffer slot; 400. The tracking module.

Detailed ways

The technical solutions of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are part of the embodiments of the utility model, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, use a specific The azimuth structure and operation, therefore can not be construed as the limitation of the present utility model. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. Wherein, the terms "first position" and "second position" are two different positions, and "above", "above" and "above" the first feature on the second feature include that the first feature is on the second feature. Directly above and obliquely above, or simply means that the first feature level is higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present utility model, but should not be construed as limiting the present utility model.

As shown in Figures 1-3, this embodiment provides a line structured light seam tracking system, including a swing arm 200, a tracking module 400 and a welding torch module; the swing arm 200 is connected to the tracking module 400 through a mobile module, and the mobile module can Make the swing arm 200 and the tracking module 400 move relatively in the working plane; one of the moving module and the swing arm 200 is provided with a first connecting shaft 220, and the other is provided with a first connecting ring 332, and the first connecting ring 332 is sleeved on The first connecting shaft 220, and 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 torch module and the swing arm 200 is provided with a second connection shaft, the other is provided with a second connection ring, the second connection ring is sleeved on the second connection shaft, and the second connection ring is selectively sleeved on the second The connection axis, the torch module can rotate around the axis of the second connection axis, the axis of the second connection axis is parallel to the first direction X; wherein, the first direction X is located in the working plane.

The line structured light seam tracking system uses the design of the moving module to make the relative position of the welding torch module and the tracking module 400 adjustable in the working plane; combined with the rotation of the swing arm 200 relative to the moving module around the first direction X and the relative swing arm of the welding torch module The design of the 200 rotating around the first direction X realizes the adjustment of the position and angle of the welding torch module relative to the tracking module 400 in a plane perpendicular to the first direction X. Combined with the design that the first direction X is located in the working plane, the welding torch is guaranteed The module can move freely in four degrees of freedom, thereby realizing the adjustment of the posture of the welding torch module, which meets the adjustment requirements of the relative angle and relative position of the welding torch module and the tracking module 400 when welding different types of welds, so that the line The pose of the structured light seam tracking system can be properly adjusted for different welding environments.

Wherein, the cooperation between the first connection ring 332 and the first connection shaft 220 and the cooperation between the second connection ring sleeved on the second connection shaft realize the connection between the tracking module 400 and the swing arm 200 and between the swing arm 200 and the welding torch module. The rotation connection also ensures that the position and angle of the welding torch module and the swing arm 200 can be adjusted as expected, and after being adjusted to a suitable position and angle, fastening and positioning are achieved by socketing.

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

In this embodiment, the first connecting ring 332 is penetrated with a first buffer groove 335, two opposite first positioning blocks 333 are provided on both sides of the first buffer groove 335, and the two first positioning blocks 333 can be locked by locking The second connecting ring is connected with a second buffer groove, and two opposite second positioning blocks are arranged on both sides of the second buffer groove, and the two second positioning blocks can be locked and connected by a locking member.

When the two positioning blocks are locked and connected by the locking member, the connecting ring uses the ductility of the metal to clamp the connecting shaft. When the locking member is loosened, the connecting ring returns to its original shape by utilizing the toughness of the metal, so that the connecting shaft can flexibly rotate around the first direction X.

The setting of the first buffer groove 335 and the second buffer groove respectively makes the ductility of the first connecting ring 332 and the second connecting ring have the ability of recoverable deformation, so that between the two first positioning blocks 333 and between the two The frictional fastening can be realized by locking and connecting the locking parts between the second positioning blocks, which achieves the effect of adjusting the spacing, and then can realize the closing of the inner ring of the first connecting ring 332 and the inner ring of the second connecting ring. Tight action. With the help of the above design, the purpose of the first connecting ring 332 socketing the first connecting shaft 220 and the second connecting ring selectively socketing the second connecting shaft in this embodiment is achieved.

Further, the first positioning block 333 is penetrated with a first locking hole 334, and the locking member can pass through the two first locking holes 334 at the same time; the second positioning block is penetrated with a second locking hole, locking The parts can be threaded through the two second locking holes at the same time. The setting of the first locking hole 334 and the second locking hole provides a space for insertion of the locking member, ensuring the locking connection between the two first positioning blocks 333 and between the two second positioning blocks. Stability, which reduces the risk of accidental sockets and ensures the stability of the line structured light seam tracking system.

Specifically, the locking member includes a locking bolt and a self-locking washer, and the self-locking washer can lock the screw rod connected to the locking bolt. With the cooperation of the locking bolt and the self-locking washer, the screw rod of the locking bolt passing through the two first positioning blocks 333 or the two second positioning blocks can be easily locked, thus ensuring the locking effect and ensuring The stable socket of the connecting ring to the connecting shaft is ensured.

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

In this embodiment, the tracking module 400 is fixedly connected with a fixed rail 310, and a sliding block 320 is slid on the fixed rail 310, and the sliding block 320 can slide relative to the fixed rail 310 along the second direction Z; 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 move relative to the tracking module 400 in the first direction X; by adjusting the position of the sliding block 320, the swing arm 200 can move relative to the tracking module 400 in the second direction Z. move. The design of the above mobile module is simple and effective. By adjusting the two-way slider, the swing arm 200 can move along the first direction X and the second direction Z, and the precise adjustment of the relative position between the swing arm 200 and the tracking module 400 is realized. , to ensure that the swing arm 200 can move relative to the tracking module 400 in the working plane.

Specifically, the moving beam 330 is provided with a beam sliding rail 331 extending along the first direction X, and the sliding block 320 is fixed with a slider pin, and the slider pin is slidingly matched with the beam sliding rail 331 .

Exemplarily, the first direction X is perpendicular to the second direction Z. The above 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, the third direction Y is perpendicular to the first direction X, the third direction Y is perpendicular to the second direction Z, and the swing arm 200 located in the plane where the second direction Z and the third direction Y are located Rotate around the first direction X.

Furthermore, a plurality of positioning holes 311 are evenly distributed on the fixed rail 310 along the second direction Z at intervals, and the sliding block 320 is penetrated with a sliding block through hole 321, and the positioning pin can pass through the sliding block through hole 321 and be inserted into a plurality of positioning holes. Any one of the holes 311.

In this embodiment, the adjustment methods of the movement action along the first direction X and the rotation action around the first direction X are both stepless adjustment, and the above design can accurately realize the relative position and angle between the tracking module 400 and the welding torch module. The adjustment operation; and the movement action in the second direction Z is gear adjustment, which can make the fixed vertical of the line structured light welding seam tracking system more firm and reliable.

Exemplarily, the positioning pin includes a positioning bolt, the positioning hole 311 is provided with an internal thread, and the positioning bolt is threadedly connected with the internal thread. The above design is simple and reliable, and can make the screw rod of the positioning bolt threadedly cooperate with the positioning hole 311 after passing through the through hole 321 of the slider, thus ensuring the accuracy of the positioning of the sliding block 320 on the fixed rail 310 .

In this embodiment, the relative position adjustment 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 elastic positioning pins; The adjustment of the connection state between the connection ring and the connection shaft is realized.

Specifically, the positioning hole 311 is a threaded hole, and a total of 13 equally spaced threaded holes are provided on the fixing rail 310 . The above design further facilitates the staff to select a suitable height in the second direction Z for adjustment.

Apparently, the above-mentioned embodiments of the present utility model are only examples for clearly illustrating the present utility model, rather than limiting the implementation manner of the present utility model. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the utility model shall be included in the protection scope of the claims of the utility model.

Claims (10)

1. The line structured light seam tracking system is characterized in that it includes: A tracking module (400) and a welding torch module; The swing arm (200) is connected to the tracking module (400) through a moving module, and the moving module can make the swing arm (200) and the tracking module (400) move relatively in the working plane; One of the moving module and the swing arm (200) is provided with a first connecting shaft (220), and the other is provided with a first connecting ring (332), and the first connecting ring (332) is sleeved on the The first connecting shaft (220), and the first connecting ring (332) is selectively sleeved on the first connecting shaft (220), and the swing arm (200) can rotate around the first connecting shaft ( 220), the axis of the first connecting shaft (220) is parallel to the first direction (X); One of the welding torch module and the swing arm (200) is provided with a second connection shaft, the other is provided with a second connection ring, the second connection ring is sleeved on the second connection shaft, and the The second connection ring is selectively sleeved on the second connection shaft, the torch module can rotate around the axis of the second connection shaft, and the axis of the second connection shaft is parallel to the first direction (X) ; wherein the first direction (X) lies in the working plane. 2. The line structured light seam tracking system according to claim 1, characterized in that, the first connecting ring (332) is penetrated with a first buffer groove (335), and the first buffer groove (335) Two opposite first positioning blocks (333) are arranged on both sides, and the two first positioning blocks (333) can be locked and connected by a locking member. 3. The line-structured light seam tracking system according to claim 2, characterized in that, the first positioning block (333) is penetrated with a first locking hole (334), and the locking member can pass through at the same time. connected to the two first locking holes (334). 4. The line-structured light seam tracking system according to claim 1, wherein a second buffer slot runs through the second connecting ring, and two opposite second buffer slots are provided on both sides of the second buffer slot. Two positioning blocks, the two second positioning blocks can be locked and connected by a locking member. 5. The line-structured light seam tracking system according to claim 4, characterized in that, a second locking hole penetrates through the second positioning block, and the locking member can be connected to the two positioning blocks at the same time. Second locking hole. 6. The wire-structured light seam tracking system according to any one of claims 2-5, wherein the locking member includes a locking bolt and a self-locking washer, and the self-locking washer can be locked and connected to The screw of the locking bolt. 7. The line-structured light seam tracking system according to claim 1, characterized in that, the tracking module (400) is fixedly connected with a fixed rail (310), and the fixed rail (310) is provided with a sliding block (320), the sliding block (320) can slide relative to the fixed rail (310) along the second direction (Z); a moving beam (330) is movably installed on the sliding block (320), and the moving The 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 seam tracking system according to claim 7, characterized in that, a plurality of positioning holes (311) are evenly spaced along the second direction (Z) on the fixed rail (310), The sliding block (320) passes through a sliding block through hole (321), and a positioning pin can pass through the sliding block through hole (321) and be inserted into any one of the plurality of positioning holes (311). 9. The line structured light seam tracking system according to claim 8, characterized in that, the positioning pin comprises a positioning bolt, the positioning hole (311) is provided with an internal thread, and the positioning bolt and the internal thread threaded connection. 10. The line structured light seam tracking system according to claim 7, characterized in that the first direction (X) is perpendicular to the second direction (Z).