CN220462708U - Welding equipment for welding cabin door based on laser vision scanning - Google Patents
Welding equipment for welding cabin door based on laser vision scanning Download PDFInfo
- Publication number
- CN220462708U CN220462708U CN202321456049.9U CN202321456049U CN220462708U CN 220462708 U CN220462708 U CN 220462708U CN 202321456049 U CN202321456049 U CN 202321456049U CN 220462708 U CN220462708 U CN 220462708U
- Authority
- CN
- China
- Prior art keywords
- welding
- ground rail
- laser vision
- connecting plate
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 130
- 238000004140 cleaning Methods 0.000 claims abstract description 19
- 239000002699 waste material Substances 0.000 claims description 7
- 238000003754 machining Methods 0.000 abstract 3
- 238000012545 processing Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Landscapes
- Laser Beam Processing (AREA)
Abstract
The utility model relates to welding equipment for welding cabin doors based on laser vision, which is characterized in that a ground rail connecting plate is slidably arranged on the upper surface of a ground rail, a first wing plate and a second wing plate are respectively connected to two sides of the ground rail connecting plate, a welding robot is fixedly arranged on the upper surface of the ground rail connecting plate, and a robot welding gun is arranged at the upper end of the welding robot; a first laser vision sensor is arranged at the end part of the robot welding gun; a welding bracket is also fixed on the ground rail connecting plate, and a second laser vision sensor is arranged at the front end of the welding bracket; the upper part of the first wing plate is provided with a welding wire barrel; a welding machine is fixed at the upper part of the second wing plate; the side of the welding machine is also connected with a gun cleaning station; the surface of the ground rail connecting plate is provided with a through hole, and a driving motor is arranged in the through hole; the welding equipment based on laser vision scanning welding of the cabin door can be provided, and the welding equipment is accurate in machining and positioning, can be used for machining parts with various different sizes, and can reduce the labor intensity of machining.
Description
Technical Field
The utility model belongs to the technical field of welding, and particularly relates to welding equipment for welding cabin doors based on laser vision scanning.
Background
During welding, because the positioning accuracy requirement of the welding device on the workpiece is high, the defects of welding deviation, welding omission, unqualified weld quality, seam undercut and the like are easily generated when the positioning error of the workpiece is large. In addition, for the same type of workpiece but different sizes, each size needs to be re-matched with the processing parameters to adapt to different workpieces, thereby resulting in low production efficiency. In the prior art, offline parameter setting is performed by adopting CAD graph introduction and other modes, but a large error exists between an actual workpiece and a drawing, and assembled gap is inconsistent, so that welding of equipment according to a path planned by the drawing is difficult to achieve.
According to the technical scheme, the welding robot is arranged on the ground rail, and a bracket extending out of the ground rail is provided with a wide-range laser vision sensor; the ground rail moves to drive the wide-range laser sensor to scan the workpiece, and three-dimensional point cloud data processing is performed after the scanning is completed, so that welding can be completed according to automatic generation programs of different workpieces and workpieces of the same type and different sizes, and the path of a robot and the gesture of a welding gun. Therefore, the positioning error of the workpiece can be solved, the welding requirement of the workpiece is further met, the weld joint is attractive in appearance and high in strength, and the problem that the workpieces of different types and different sizes need repeated teaching programming parameters can be avoided.
Disclosure of Invention
The utility model aims to provide welding equipment for welding ship cabin doors based on laser vision scanning, which has accurate processing and positioning, uses parts of various different sizes to process and reduces the processing labor intensity.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the welding equipment based on laser vision scanning welding ship cabin doors comprises a ground rail, a welding robot, a robot welding gun, a first laser vision sensor, a second laser vision sensor, a welding bracket, a welding wire barrel, a welding machine, a gun cleaning station, a workpiece, a ground rail connecting plate, a driving motor, a first wing plate and a second wing plate, wherein the upper surface of the ground rail is slidably provided with the ground rail connecting plate, two sides of the ground rail connecting plate are respectively connected with the first wing plate and the second wing plate, the welding robot is fixedly arranged on the upper surface of the ground rail connecting plate, and the robot welding gun is arranged at the upper end of the welding robot; a first laser vision sensor is arranged at the end part of the robot welding gun; a welding bracket is also fixed on the ground rail connecting plate, and a second laser vision sensor is arranged at the front end of the welding bracket; the upper part of the first wing plate is provided with a welding wire barrel; a welding machine is fixed at the upper part of the second wing plate; the side edge of the welding machine is also connected with a gun cleaning station; a workpiece is placed below the first laser vision sensor and the second laser vision sensor; the surface of the ground rail connecting plate is provided with a through hole, and a driving motor is arranged in the through hole.
As a further improvement of the utility model, a driving wheel is arranged on the lower end output shaft of the driving motor, and the driving wheel is movably arranged in the ground rail and can move along the side wall of the ground rail.
As a further improvement of the utility model, a first ground rail sliding block and a second ground rail sliding block are arranged at intervals on one side of the lower surface of the ground rail connecting plate; and a third ground rail sliding block and a fourth ground rail sliding block are arranged on the other side of the lower surface of the ground rail connecting plate at intervals.
As a further development of the utility model, a welding device for welding ship's hatch doors based on laser vision scanning according to the claims is characterized in that: the bottoms of the first ground rail sliding block and the second ground rail sliding block are provided with sliding groove structures.
As a further development of the utility model, a welding device for welding ship's hatch doors based on laser vision scanning according to the claims is characterized in that: and the side walls of the third ground rail sliding block and the fourth ground rail sliding block are provided with sliding groove structures.
As a further improvement of the utility model, the driving motor adopts a servo motor and is electrically connected with an external motor controller.
As a further improvement of the utility model, the gun cleaning station comprises a cleaning support, a cleaner and a waste residue bin, wherein the cleaner is arranged at the upper part of the cleaning support, and the waste residue bin is fixed on the side surface of the cleaner.
As a further development of the utility model, the first laser vision sensor and the second laser vision sensor are in data connection with an external control computer.
Compared with the prior art, the utility model has the beneficial effects that: according to the technical scheme, the welding robot, the guide rail, the first laser vision sensor and the second laser vision sensor are arranged and matched with the external image processing computer, so that the problems that the traditional welding equipment needs repeated teaching for many times and the workpiece positioning is inaccurate can be solved, and the complicated condition that parameters are required to be continuously adjusted for different types of workpieces for many times in the prior art is overcome; according to the technical scheme, a plurality of sensors are adopted for scanning, and the technical effects of being capable of self-adapting to workpiece types and different sizes and automatically planning a welding path of a robot can be achieved by processing scanned three-dimensional point cloud data; according to the technical scheme, the sensor is adopted for carrying out weld tracking on the condition that the weld is easy to deform during welding, and real-time tracking and weld correction during welding can be realized, so that one-time welding is achieved, the welding position is accurate, the welding precision is high, and the product qualification rate and the processing efficiency are improved; the technical scheme can also reduce the technical requirements of actual processing of various workpieces on field operators, and effectively reduce the working strength of the field operators.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present utility model.
Fig. 2 is a schematic diagram of the construction of the present utility model during operation.
Fig. 3 is a schematic view of a local structure of a ground rail connecting plate of the present utility model.
Fig. 4 is a schematic diagram of the upper structure of the ground rail connecting plate of the present utility model.
Fig. 5 is a schematic side view of a first rail slider of the present utility model.
Fig. 6 is a schematic diagram of a partial structure of the gun cleaning station of the present utility model.
Fig. 7 is a schematic view of a partial structure of a driving motor according to the present utility model.
In the figure: 1. a ground rail; 2. a welding robot; 3. a robot welding gun; 4. a first laser vision sensor; 5. a second laser vision sensor; 6. welding a bracket; 7. a welding wire barrel; 8. welding machine; 9. a gun cleaning station; 10. a workpiece; 11. a ground rail connecting plate; 11-1, a first ground rail slide block; 11-2, a second ground rail slide block; 11-3, a third ground rail slide block; 11-4, a fourth ground rail slide block; 12. a driving motor; 13. a driving wheel; 14. cleaning a bracket; 15. a cleaner; 16. a waste residue bin; 17. a first wing plate; 18. and a second wing plate.
Description of the embodiments
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.
Referring to fig. 1 to 7, the present utility model provides a technical solution: the welding equipment for welding the ship cabin door based on laser vision scanning comprises a ground rail 1, a welding robot 2, a robot welding gun 3, a first laser vision sensor 4, a second laser vision sensor 5, a welding bracket 6, a welding wire barrel 7, a welding machine 8, a gun cleaning station 9, a workpiece 10, a ground rail connecting plate 11, a driving motor 12, a first wing plate 17 and a second wing plate 18, wherein the ground rail connecting plate 11 is slidably arranged on the upper surface of the ground rail 1, the two sides of the ground rail connecting plate 11 are respectively connected with the first wing plate 17 and the second wing plate 18, the welding robot 2 is fixedly arranged on the upper surface of the ground rail connecting plate 11, and the robot welding gun 3 is arranged at the upper end of the welding robot 2; the end part of the robot welding gun 3 is provided with a first laser vision sensor 4; a welding bracket 6 is also fixed on the ground rail connecting plate 11, and a second laser vision sensor 5 is installed at the front end of the welding bracket 6; the upper part of the first wing plate 17 is provided with a welding wire barrel 7; a welding machine 8 is fixed at the upper part of the second wing plate 18; the side edge of the welding machine 8 is also connected with a gun cleaning station 9; a workpiece 10 is placed below the first laser vision sensor 4 and the second laser vision sensor 5; the surface of the ground rail connecting plate 11 is provided with a through hole and a driving motor 12 is arranged in the through hole.
The lower end output shaft of the driving motor 12 is provided with a driving wheel 13, and the driving wheel 13 is movably arranged in the ground rail 1 and can move along the side wall of the ground rail 1; a first ground rail sliding block 11-1 and a second ground rail sliding block 11-2 are arranged at one side of the lower surface of the ground rail connecting plate 11 at intervals; the other side of the lower surface of the ground rail connecting plate 11 is provided with a third ground rail sliding block 11-3 and a fourth ground rail sliding block 11-4 at intervals.
The bottoms of the first ground rail slide block 11-1 and the second ground rail slide block 11-2 are respectively provided with a sliding groove structure; the side walls of the third ground rail sliding block 11-3 and the fourth ground rail sliding block 11-4 are provided with sliding groove structures.
The driving motor 12 adopts a servo motor and is electrically connected with an external motor controller; the gun cleaning station 9 comprises a cleaning bracket 14, a cleaner 15 and a waste residue bin 16, wherein the cleaner 15 is arranged at the upper part of the cleaning bracket 14, and the waste residue bin 16 is fixed on the side surface of the cleaner 15; the first laser vision sensor 4 and the second laser vision sensor 5 are in data connection with an external control computer.
The device comprises the following specific working processes:
1. firstly, a starting point and an ending point of teaching scanning are manually set, the starting point is generally set to be the original point position of a ground rail, and the scanning ending point can be automatically calculated only by inputting the distance to be scanned.
2. After the feeding of the welded workpiece is completed and equipment is started, the robot and the ground rail can run together, and the first laser vision sensor and the second laser vision sensor which are installed in the moving process of the ground rail can scan and continuously record three-dimensional point cloud data.
3. After the scanning is finished, the data are sent to external computer equipment for data processing, and the type, the size, the number of welding seams and the length of the placed workpiece are identified through three-dimensional point cloud analysis reconstruction of the scanned data.
4. The external computer equipment calculates the welding path of the robot and the welding gun attitude angle of the corresponding welding line after the three-dimensional point cloud processing is completed.
5. The calculated path point positions and welding paths are sent to a welding robot controller, and the paths analyzed through the three-dimensional point cloud can automatically avoid places with interference; the robot can execute welding by itself after receiving the sending completion signal, in order to ensure welding precision and solve the problem of thermal deformation in the welding process, a welding seam tracking sensor can be added at the tail end of a welding gun, real-time tracking is performed in the welding process, deviation correction is performed on a welding path, and the problems that deviation occurs in welding and the welding quality does not reach the standard due to thermal deformation in the welding process are prevented.
6. And returning the robot to the original safe position after the welding is finished, waiting for unloading the welded workpiece, placing a new workpiece, placing the new workpiece again, and executing the next welding operation.
The foregoing is merely a preferred example of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (8)
1. Welding equipment based on laser vision scanning welding ship hatch door, its characterized in that: the welding machine comprises a ground rail (1), a welding robot (2), a robot welding gun (3), a first laser vision sensor (4), a second laser vision sensor (5), a welding bracket (6), a welding wire barrel (7), a welding machine (8), a gun cleaning station (9), a workpiece (10), a ground rail connecting plate (11), a driving motor (12), a first wing plate (17) and a second wing plate (18), wherein the upper surface of the ground rail (1) is slidably provided with the ground rail connecting plate (11), the two sides of the ground rail connecting plate (11) are respectively connected with the first wing plate (17) and the second wing plate (18), the welding robot (2) is fixedly arranged on the upper surface of the ground rail connecting plate (11), and the robot welding gun (3) is arranged at the upper end of the welding robot (2); a first laser vision sensor (4) is arranged at the end part of the robot welding gun (3); a welding bracket (6) is also fixed on the ground rail connecting plate (11), and a second laser vision sensor (5) is arranged at the front end of the welding bracket (6); the upper part of the first wing plate (17) is provided with a welding wire barrel (7); a welding machine (8) is fixed at the upper part of the second wing plate (18); the side edge of the welding machine (8) is also connected with a gun cleaning station (9); a workpiece (10) is placed below the first laser vision sensor (4) and the second laser vision sensor (5); the surface of the ground rail connecting plate (11) is provided with a through hole, and a driving motor (12) is arranged in the through hole.
2. Welding equipment for welding ship's hatch doors based on laser vision scanning according to claim 1, characterized in that: the lower end output shaft of the driving motor (12) is provided with a driving wheel (13), and the driving wheel (13) is movably arranged inside the ground rail (1) and can move along the side wall of the ground rail (1).
3. Welding equipment for welding ship's hatch doors based on laser vision scanning according to claim 1, characterized in that: a first ground rail sliding block (11-1) and a second ground rail sliding block (11-2) are arranged at one side of the lower surface of the ground rail connecting plate (11) at intervals; the other side of the lower surface of the ground rail connecting plate (11) is provided with a third ground rail sliding block (11-3) and a fourth ground rail sliding block (11-4) at intervals.
4. A welding apparatus for welding ship's hatch based on laser vision scanning according to claim 3, characterized in that: sliding groove structures are formed in the bottoms of the first ground rail sliding block (11-1) and the second ground rail sliding block (11-2).
5. A welding apparatus for welding ship's hatch based on laser vision scanning according to claim 3, characterized in that: sliding groove structures are formed in the side walls of the third ground rail sliding block (11-3) and the fourth ground rail sliding block (11-4).
6. Welding equipment for welding ship's hatch doors based on laser vision scanning according to claim 1, characterized in that: the driving motor (12) adopts a servo motor and is electrically connected with an external motor controller.
7. Welding equipment for welding ship's hatch doors based on laser vision scanning according to claim 1, characterized in that: the gun cleaning station (9) comprises a cleaning support (14), a cleaner (15) and a waste residue bin (16), wherein the cleaner (15) is installed on the upper portion of the cleaning support (14), and the waste residue bin (16) is fixed on the side face of the cleaner (15).
8. Welding equipment for welding ship's hatch doors based on laser vision scanning according to claim 1, characterized in that: the first laser vision sensor (4) and the second laser vision sensor (5) are in data connection with an external control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321456049.9U CN220462708U (en) | 2023-06-08 | 2023-06-08 | Welding equipment for welding cabin door based on laser vision scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321456049.9U CN220462708U (en) | 2023-06-08 | 2023-06-08 | Welding equipment for welding cabin door based on laser vision scanning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220462708U true CN220462708U (en) | 2024-02-09 |
Family
ID=89799048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321456049.9U Active CN220462708U (en) | 2023-06-08 | 2023-06-08 | Welding equipment for welding cabin door based on laser vision scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220462708U (en) |
-
2023
- 2023-06-08 CN CN202321456049.9U patent/CN220462708U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105562973B (en) | A kind of laser identification axle robot space curve welding system of weld seam 8 and method | |
| CN109352217B (en) | Small group robot on-line automatic welding equipment and welding operation method | |
| CN204524503U (en) | A kind of Novel girth welding device controlled based on weld seam Intelligent Measurement | |
| CN106238969A (en) | Non-standard automatic welding system of processing based on structure light vision | |
| CN107262926B (en) | Automatic laser welding device with CCD detection function and welding method | |
| GB2254171A (en) | Welding robot | |
| CN205650975U (en) | Non - tender automation of welding system of processing based on structured light vision | |
| CN105983802B (en) | A kind of welding robot control system and method | |
| CN102590245A (en) | Intelligent X-ray digital flat imaging detection system device and detection method | |
| CN204524618U (en) | A kind of automatic recognition and tracking welder of weld seam applying laser scanner | |
| CN111687515A (en) | Intelligent welding guide system for large steel structure | |
| CN112427777A (en) | Robot self-adaptive intelligent welding system and welding method for assembly in ship | |
| CN116117373A (en) | Intelligent welding method and system for small assembly components in ship | |
| CN115464263A (en) | Automatic tracking method, detection method and device for laser welding seam | |
| CN110560840B (en) | System and method for identifying weld joint position and automatically welding by laser | |
| CN106271369B (en) | Railway frog intelligence welding robot | |
| CN220462708U (en) | Welding equipment for welding cabin door based on laser vision scanning | |
| CN113664431A (en) | Steel structural part welding arm capable of adjusting posture in real time and adjusting method | |
| CN206366785U (en) | Railway frog intelligence welding robot | |
| CN109986255B (en) | Hybrid vision servo parallel robot and operation method | |
| CN210648949U (en) | Welding system suitable for grid with different inclination degrees | |
| CN210648951U (en) | System for laser identification welding seam position and automatic welding | |
| CN112355438A (en) | Automatic robot welding process for container corrugated welding | |
| CN112355439A (en) | Special machine automatic welding process for container corrugated welding | |
| CN115945785A (en) | Automatic seam-finding laser welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |