WO2018170635A1 - High-intelligence laser welding robot system - Google Patents
High-intelligence laser welding robot system Download PDFInfo
- Publication number
- WO2018170635A1 WO2018170635A1 PCT/CN2017/077185 CN2017077185W WO2018170635A1 WO 2018170635 A1 WO2018170635 A1 WO 2018170635A1 CN 2017077185 W CN2017077185 W CN 2017077185W WO 2018170635 A1 WO2018170635 A1 WO 2018170635A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- electric telescopic
- laser
- fixed
- rod
- chassis
- Prior art date
Links
Definitions
- the present invention relates to a highly intelligent laser welding robot system.
- Laser welding is a highly efficient precision welding method that utilizes a high energy density laser beam as a heat source.
- Laser welding is one of the important aspects of the application of laser material processing technology. In the 1970s, it was mainly used for welding thin-walled materials and low-speed welding.
- the welding process is heat-conducting type, that is, laser radiation heats the surface of the workpiece, and surface heat is diffused to the inside through heat conduction, by controlling the width, energy, peak power and repetition frequency of the laser pulse.
- the parameters are such that the workpiece is melted to form a specific molten pool. Due to its unique advantages, it has been successfully applied to precision welding of small and small parts. China's laser welding is at the advanced level in the world.
- Laser welding can be achieved by continuous or pulsed laser beams.
- the principle of laser welding can be divided into thermal conduction welding and laser deep welding.
- the power density is less than 104 ⁇ 105 W/cm2 for heat conduction welding.
- the melting depth is shallow and the welding speed is slow.
- the power density is greater than 105 ⁇ 107 W/cm2 ⁇ , and the metal surface is concave into "holes" under the action of heat to form deep fusion welding.
- the welding speed is fast and the aspect ratio is large.
- the principle of thermal conduction laser welding is: laser radiation heats the surface to be processed, surface heat is diffused to the inside through heat conduction, and the workpiece is melted by controlling laser parameters such as width, energy, peak power and repetition frequency of the laser pulse to form a specific molten pool.
- Laser welding machines for gear welding and metallurgical sheet welding mainly involve laser deep penetration welding.
- Light deep penetration welding generally uses a continuous laser beam to complete the material connection.
- the metallurgical physical process is very similar to electron beam welding, that is, the energy conversion mechanism is completed by a "key-hole" structure. Under high enough power density laser illumination, the material evaporates and forms pores.
- This vapor-filled hole is like a black body, which absorbs almost all of the incident beam energy.
- the equilibrium temperature in the cavity reaches about 2500 °C. Heat is transferred from the outer wall of the high-temperature cavity, melting the metal surrounding the cavity.
- the small hole is filled with high-temperature steam generated by continuous evaporation of the wall material under the irradiation of the light beam, and the small holes surround the molten metal.
- the liquid metal is surrounded by solid materials (and in most conventional welding processes and laser-conducting welding, energy is first deposited on the surface of the workpiece and then transferred to the interior by transfer). The liquid flow outside the pore wall and the surface tension of the wall layer are maintained and maintain a dynamic balance with the vapor pressure continuously generated in the pore cavity.
- the beam continuously enters the small hole, and the material outside the small hole flows continuously.
- the small hole is always in a flowing stable state. That is, the small holes and the molten metal surrounding the walls of the holes move forward with the advancement speed of the leading beam, and the molten metal fills the gap left after the small holes are moved and condenses, and the weld is formed. All of the above processes happen so quickly that the welding speed is easily reached several meters per minute.
- a highly intelligent laser welding robotic system is provided.
- a high-intelligence laser welding robot system the main structures thereof are: table bracket, guide rail, slider, chassis, limit block, limit Strip, electric telescopic long rod, stepping motor, cap box, rutting disc, L-shaped lifting arm, fixed steel plate set, front laser seat clamping table, rear laser seat clamping table, electric telescopic short rod a, laser seat a, laser seat b, laser seat c, laser seat d, angle steel plate, laser welded plate, left electric telescopic double rod, right electric telescopic double rod, electric telescopic short rod b, welding flux, said table bracket A guide rail is arranged on both sides of the top end, and a chassis is placed on the guide rail by a slider; a side of the chassis is fixed with a telescopic end rod of the electric telescopic long rod, and a base portion of the electric telescopic long rod passes through the connecting piece and the worktable The bracket is fixed.
- the central position of the chassis has a circular hole groove, and the two sides of the hole groove are respectively provided with a limiting strip, and the end groove position of the hole groove is provided with a limiting block; the chassis of the chassis is provided with a bearing box A stepping motor is arranged under the bearing box, and the stepping motor has a power output shaft through the hole slot.
- the side of the table bracket is fixed with an L-shaped lifting arm by a steel plate bolt, and a fixed steel plate group is welded to the end of the L-shaped lifting arm.
- the left and right sides of the fixed steel plate group are fixed with a left electric telescopic double pole and a right electric telescopic double by bolts. Rod.
- the front laser seat clamping table is fixed by bolts to the bottom position of the L-shaped lifting arm end
- the rear laser seat clamping table is fixed by bolts to the bottom position of the L-shaped lifting arm.
- Two electric telescopic short rods a are clamped in the front laser holder clamping table, and a laser seat & laser holder b are respectively fixed under the electric telescopic short rods a.
- the rear laser holder clamping table has two electric telescopic short rods a, and a laser holder laser holder d is fixed under the rear laser holder clamping table.
- the front end is fixed by the bolt and the angle steel piece, and a laser welded plate is arranged between the bottom end of the angle steel piece and the bottom end of the rear laser seat clamping table.
- the electric telescopic short rod b is clamped in the left electric telescopic double rod and the right electric telescopic double rod end slot cavity, and the welding flux is fixed under the electric telescopic short rod b.
- a rutting disc is placed on the center of the chassis.
- the center position of the ram is fixed by the power output shaft of the stepping motor.
- the stepping motor, the electric telescopic short rod a, and the electric telescopic short rod b are controlled by an intelligent system of a computer.
- the structure is simple, the assembly of the machine is easy; the high-precision operation for realizing laser welding under the control of the intelligent system of the computer; the integration of each work accessory in the device of the worktable is high, and the detachability is strong, The purpose of laser welding with high precision can be realized in a true sense.
- FIG. 1 is an overall structural diagram of a high-intelligence laser welding robot system according to the present invention.
- 2 is a view showing the overall structure of an upper portion of a high-intelligence laser welding robot system according to the present invention.
- Fig. 3 is a view showing the upper explosion structure of a high-intelligent laser welding robot system according to the present invention.
- Fig. 4 is a view showing the overall structure of a lower part of a highly intelligent laser welding robot system according to the present invention.
- FIG. 5 is a bottom exploded structural view of a high-intelligence laser welding robot system according to the present invention.
- a high-intelligence laser welding robot system the main structure of which is: workbench support 1, guide rail 2, slider 3, chassis 4, limit block 5, limit strip 6, electric telescopic long rod 7, step
- the header box 9 the rut plate 10 , L-shaped lifting arm 11 , fixed steel plate set 12 , front laser seat clamping table 13 , rear laser seat clamping table 14 , electric telescopic short bar a5 , laser base a6 , laser seat bl7 , laser seat cl8 , laser seat dl9 ,
- An angle steel sheet 20 a laser welded plate 21, a left electric telescopic double rod 22, a right electric telescopic double rod 23, an electric telescopic short rod b24, a welding flux 25, and a guide rail 2 is arranged on both sides of the top end of the table support 1
- the bottom plate 4 is
- the chassis 4 has a circular hole in the center of the chassis 4, and a limiting strip 6 is disposed on each side of the slot, and a limiting block 5 is disposed at an end corner of the slot; the slot 4 of the chassis 4 is disposed under the slot There is a bearing box 9, and a stepping motor 8 is arranged under the bearing box 9.
- the stepping motor 8 has a power output shaft through the hole slot.
- the side of the table bracket 1 is fixed with an L-shaped lifting arm 1 by a steel plate bolt, and a fixed steel plate group 12 is welded to the end of the L-shaped lifting arm 11.
- the left and right sides of the fixed steel plate group 12 are fixed with a left electric telescopic double by bolts. Rod 22, right electric telescopic double rod 23.
- the front laser seat clamping table 13 is fixed to the bottom position of the end of the L-shaped lifting arm 11 by bolts
- the rear laser seat clamping table 14 is fixed to the bottom position of the L-shaped lifting arm 11 by bolts.
- the front laser holder holding table 13 has two electric telescopic short rods a5, and a laser base a6 and a laser base 7 are fixed to the electric telescopic short rods a5.
- Two electric telescopic short rods a5 are sandwiched in the rear laser holder holding table 14, and a laser holder cl8 and a laser holder d15 are respectively fixed under the rear laser holder holding table 14.
- the front end of the fixed steel plate set 12 is fixed to the angle steel piece 20 by bolts, and a laser welded plate 21 is erected between the bottom end of the angle steel piece 20 and the bottom end of the rear laser seat holding table 14.
- the left electric telescopic double rod 22 and the right electric telescopic double rod 23 end chambers each hold an electric telescopic short rod b24, and the electric telescopic short rod b24 is fixed with a welding flux 25.
- the ram 10 is placed at the center of the chassis 4. The center position of the ram 10 is fixed by the power output shaft of the stepping motor 8.
- the stepping motor 8, the electric telescopic short rod a5, and the electric telescopic short rod b24 are controlled by an intelligent system of a computer.
- the workbench designed by the present invention is mainly used for laser welding of the ram plate 10.
- the equipment uses two sets of systems to work together. The following is a description of the entire implementation process of the workbench: First, the two brake discs 10 to be welded are sequentially inserted into the power output shaft of the stepping motor 8, and The limit block 5 and the limit strip 6 are movably clamped in a certain range.
- the laser welding material is placed on the laser welded plate 21 to be fixed and fixed, and the soldering flux 25 is loaded under the electric telescopic short rod b24; the laser seat al6 under the front laser holder holding table 13 and the rear laser holder holding table 14 is adjusted.
- start the left electric telescopic double rod 22 the right electric telescopic double rod 23 will The soldering flux 25 is pushed under the table holder 1 and the laser-coated material strip on the laser-welded board 21 is adjusted.
- the electric telescopic long rod 7 is activated to translate the chassis 4 to the opposite position of the L-shaped lifting arm 11.
- the stepping motor 8 is driven to rotate at a high speed, and the laser holder a6, the laser holder 7, the laser holder cl8, and the laser holder dl9 are activated, and the matched laser welding plate 21 and the soldering flux 25 work together.
Abstract
A high-intelligence laser welding robot system, comprising: a working platform support (1), a guide rail (2), a sliding block (3), a chassis (4), a limiting block (5), limiting strips (6), an electric telescopic long rod (7), a stepper motor (8), and a platform bearing box (9); two sides of an upper top end of the working platform support (1) are provided with the guide rail (2), the chassis (4) being shelved on the guide rail (2) by means of the sliding block (3); a side of the chassis (4) is fixed to a telescopic end rod of the electric telescopic long rod (7), and a machine base portion of the electric telescopic long rod (7) is fixed to the working platform support (1) by means of a connection member; a central position of the chassis is opened with a circular hole groove, and two sides of the hole groove are each provided with a limiting strip (6), while an end corner position of the hole groove is provided with the limiting block (5); the hole groove of the chassis is provided thereunder with the platform bearing box (9), and the platform bearing box (9) is provided thereunder with the stepper motor (8), a power output shaft of the stepper motor (8) passing through the hole groove. The system has a simple structure and machine part assembly is easy; the present invention is suitable for achieving various high precision laser welding operations under the control of an intelligent system of a computer; the working parts of the working platform are highly integrated, and may be easily detached and replaced, thereby achieving high precision laser welding.
Description
说明书 发明名称：一种高智能激光焊接机械人系统 技术领域 Description: A high-intelligence laser welding robot system
[0001] 本发明涉及一种高智能激光焊接机械人系统。 The present invention relates to a highly intelligent laser welding robot system.
背景技术 Background technique
[0002] 激光焊接是利用高能量密度的激光束作为热源的一种高效精密焊接方法。 激光 焊接是激光材料加工技术应用的重要方面之一。 20世纪 70年代主要用于焊接薄 壁材料和低速焊接， 焊接过程属热传导型， 即激光辐射加热工件表面， 表面热 量通过热传导向内部扩散， 通过控制激光脉冲的宽度、 能量、 峰值功率和重复 频率等参数， 使工件熔化， 形成特定的熔池。 由于其独特的优点， 已成功应用 于微、 小型零件的精密焊接中。 中国的激光焊接处于世界先进水平， 具备了使 用激光成形超过 12平方米的复杂钛合金构件的技术和能力， 并投入多个国产航 空科研项目的原型和产品制造中。 2013年 10月， 中国焊接专家获得了焊接领域 最高学术奖- -布鲁克奖， 中国激光焊接水平得到了世界的肯定。 激光焊接可以采 用连续或脉冲激光束加以实现， 激光焊接的原理可分为热传导型焊接和激光深 熔焊接。 功率密度小于 104~105 W/cm2为热传导焊， 此吋熔深浅、 焊接速度慢； 功率密度大于 105~107 W/cm2吋， 金属表面受热作用下凹成"孔穴"， 形成深熔焊 ， 具有焊接速度快、 深宽比大的特点。 其中热传导型激光焊接原理为： 激光辐 射加热待加工表面， 表面热量通过热传导向内部扩散， 通过控制激光脉冲的宽 度、 能量、 峰功率和重复频率等激光参数， 使工件熔化， 形成特定的熔池。 用 于齿轮焊接和冶金薄板焊接用的激光焊接机主要涉及激光深熔焊接。 光深熔焊 接一般采用连续激光光束完成材料的连接， 其冶金物理过程与电子束焊接极为 相似， 即能量转换机制是通过"小孔" (Key-hole) 结构来完成的。 在足够高的功 率密度激光照射下， 材料产生蒸发并形成小孔。 这个充满蒸气的小孔犹如一个 黑体， 几乎吸收全部的入射光束能量， 孔腔内平衡温度达 2500 0C左右， 热量从 这个高温孔腔外壁传递出来， 使包围着这个孔腔四周的金属熔化。 小孔内充满 在光束照射下壁体材料连续蒸发产生的高温蒸汽， 小孔四壁包围着熔融金属，
液态金属四周包围着固体材料 （而在大多数常规焊接过程和激光传导焊接中， 能量首先沉积于工件表面， 然后靠传递输送到内部） 。 孔壁外液体流动和壁层 表面张力与孔腔内连续产生的蒸汽压力相持并保持着动态平衡。 光束不断进入 小孔， 小孔外的材料在连续流动， 随着光束移动， 小孔始终处于流动的稳定状 态。 就是说， 小孔和围着孔壁的熔融金属随着前导光束前进速度向前移动， 熔 融金属充填着小孔移幵后留下的空隙并随之冷凝， 焊缝于是形成。 上述过程的 所有这一切发生得如此快， 使焊接速度很容易达到每分钟数米。 [0002] Laser welding is a highly efficient precision welding method that utilizes a high energy density laser beam as a heat source. Laser welding is one of the important aspects of the application of laser material processing technology. In the 1970s, it was mainly used for welding thin-walled materials and low-speed welding. The welding process is heat-conducting type, that is, laser radiation heats the surface of the workpiece, and surface heat is diffused to the inside through heat conduction, by controlling the width, energy, peak power and repetition frequency of the laser pulse. The parameters are such that the workpiece is melted to form a specific molten pool. Due to its unique advantages, it has been successfully applied to precision welding of small and small parts. China's laser welding is at the advanced level in the world. It has the technology and capability to use laser to form complex titanium alloy components of more than 12 square meters, and has invested in the prototype and product manufacturing of many domestic aviation research projects. In October 2013, Chinese welding experts won the highest academic award in the field of welding - the Brooke Award. The level of laser welding in China has been recognized by the world. Laser welding can be achieved by continuous or pulsed laser beams. The principle of laser welding can be divided into thermal conduction welding and laser deep welding. The power density is less than 104~105 W/cm2 for heat conduction welding. The melting depth is shallow and the welding speed is slow. The power density is greater than 105~107 W/cm2吋, and the metal surface is concave into "holes" under the action of heat to form deep fusion welding. The welding speed is fast and the aspect ratio is large. The principle of thermal conduction laser welding is: laser radiation heats the surface to be processed, surface heat is diffused to the inside through heat conduction, and the workpiece is melted by controlling laser parameters such as width, energy, peak power and repetition frequency of the laser pulse to form a specific molten pool. . Laser welding machines for gear welding and metallurgical sheet welding mainly involve laser deep penetration welding. Light deep penetration welding generally uses a continuous laser beam to complete the material connection. The metallurgical physical process is very similar to electron beam welding, that is, the energy conversion mechanism is completed by a "key-hole" structure. Under high enough power density laser illumination, the material evaporates and forms pores. This vapor-filled hole is like a black body, which absorbs almost all of the incident beam energy. The equilibrium temperature in the cavity reaches about 2500 °C. Heat is transferred from the outer wall of the high-temperature cavity, melting the metal surrounding the cavity. The small hole is filled with high-temperature steam generated by continuous evaporation of the wall material under the irradiation of the light beam, and the small holes surround the molten metal. The liquid metal is surrounded by solid materials (and in most conventional welding processes and laser-conducting welding, energy is first deposited on the surface of the workpiece and then transferred to the interior by transfer). The liquid flow outside the pore wall and the surface tension of the wall layer are maintained and maintain a dynamic balance with the vapor pressure continuously generated in the pore cavity. The beam continuously enters the small hole, and the material outside the small hole flows continuously. As the beam moves, the small hole is always in a flowing stable state. That is, the small holes and the molten metal surrounding the walls of the holes move forward with the advancement speed of the leading beam, and the molten metal fills the gap left after the small holes are moved and condenses, and the weld is formed. All of the above processes happen so quickly that the welding speed is easily reached several meters per minute.
技术问题 technical problem
[0003] 提供一种高智能激光焊接机械人系统。 [0003] A highly intelligent laser welding robotic system is provided.
问题的解决方案 Problem solution
技术解决方案 Technical solution
[0004] 本发明解决其上述的技术问题所采用以下的技术方案： 一种高智能激光焊接机 械人系统， 其主要构造有： 工作台支架、 导轨、 滑块、 底盘、 限位块、 限位条 、 电动伸缩长杆、 步进电机、 承台箱、 车轱辘盘、 L形举臂、 固定钢板组、 前激 光座夹持台、 后激光座夹持台、 电动伸缩短杆 a、 激光座 a、 激光座 b、 激光座 c、 激光座 d、 角钢片、 激光焊接板、 左电动伸缩双杆、 右电动伸缩双杆、 电动伸缩 短杆 b、 焊接助焊剂， 所述的工作台支架上顶端两侧均设有导轨， 导轨上通过滑 块搁置有底盘； 所述的底盘一侧边与电动伸缩长杆的伸缩端杆相固定， 电动伸 缩长杆的机座部分通过连接件与工作台支架相固定。 所述的底盘中心位置幵有 圆形的孔槽， 孔槽的两侧各设有限位条， 孔槽的端角位置处设有限位块； 所述 的底盘的孔槽下设有承台箱， 承台箱底下设有步进电机， 所述的步进电机其动 力输出轴贯通孔槽。 所述的工作台支架一侧通过钢板螺栓固定有 L形举臂， L形 举臂末端焊接有固定钢板组， 固定钢板组左右两侧通过螺栓各固定有左电动伸 缩双杆、 右电动伸缩双杆。 所述的前激光座夹持台通过螺栓固定于 L形举臂末端 底下位置处， 所述的后激光座夹持台通过螺栓固定于 L形举臂中端底下位置处。 所述的前激光座夹持台内夹持有两个电动伸缩短杆 a， 并且在电动伸缩短杆 a下分 别固定有激光座&、 激光座 b。 所述的后激光座夹持台内夹持有两个电动伸缩短杆 a, 并且在后激光座夹持台下分别固定有激光座^ 激光座 d。 所述的固定钢板组
前端通过螺栓与角钢片相固定， 角钢片底端与后激光座夹持台底端之间架立有 激光焊接板。 所述的左电动伸缩双杆、 右电动伸缩双杆末端槽腔内均夹持电动 伸缩短杆 b， 所述的电动伸缩短杆 b下固定有焊接助焊剂。 进一步地， 所述的底 盘中心位置上搁置有车轱辘盘。 进一步地， 所述的车轱辘盘中心位置被步进电 机的动力输出轴所固定。 进一步地， 所述的步进电机、 电动伸缩短杆 a、 电动伸 缩短杆 b通过计算机的智能系统控制。 [0004] The present invention solves the above technical problems and adopts the following technical solutions: A high-intelligence laser welding robot system, the main structures thereof are: table bracket, guide rail, slider, chassis, limit block, limit Strip, electric telescopic long rod, stepping motor, cap box, rutting disc, L-shaped lifting arm, fixed steel plate set, front laser seat clamping table, rear laser seat clamping table, electric telescopic short rod a, laser seat a, laser seat b, laser seat c, laser seat d, angle steel plate, laser welded plate, left electric telescopic double rod, right electric telescopic double rod, electric telescopic short rod b, welding flux, said table bracket A guide rail is arranged on both sides of the top end, and a chassis is placed on the guide rail by a slider; a side of the chassis is fixed with a telescopic end rod of the electric telescopic long rod, and a base portion of the electric telescopic long rod passes through the connecting piece and the worktable The bracket is fixed. The central position of the chassis has a circular hole groove, and the two sides of the hole groove are respectively provided with a limiting strip, and the end groove position of the hole groove is provided with a limiting block; the chassis of the chassis is provided with a bearing box A stepping motor is arranged under the bearing box, and the stepping motor has a power output shaft through the hole slot. The side of the table bracket is fixed with an L-shaped lifting arm by a steel plate bolt, and a fixed steel plate group is welded to the end of the L-shaped lifting arm. The left and right sides of the fixed steel plate group are fixed with a left electric telescopic double pole and a right electric telescopic double by bolts. Rod. The front laser seat clamping table is fixed by bolts to the bottom position of the L-shaped lifting arm end, and the rear laser seat clamping table is fixed by bolts to the bottom position of the L-shaped lifting arm. Two electric telescopic short rods a are clamped in the front laser holder clamping table, and a laser seat & laser holder b are respectively fixed under the electric telescopic short rods a. The rear laser holder clamping table has two electric telescopic short rods a, and a laser holder laser holder d is fixed under the rear laser holder clamping table. Fixed steel plate set The front end is fixed by the bolt and the angle steel piece, and a laser welded plate is arranged between the bottom end of the angle steel piece and the bottom end of the rear laser seat clamping table. The electric telescopic short rod b is clamped in the left electric telescopic double rod and the right electric telescopic double rod end slot cavity, and the welding flux is fixed under the electric telescopic short rod b. Further, a rutting disc is placed on the center of the chassis. Further, the center position of the ram is fixed by the power output shaft of the stepping motor. Further, the stepping motor, the electric telescopic short rod a, and the electric telescopic short rod b are controlled by an intelligent system of a computer.
发明的有益效果 Advantageous effects of the invention
有益效果 Beneficial effect
[0005] 结构简单、 机件装配容易； 适用于在计算机的智能系统控制下实现激光焊接的 各个高精度的操作； 此外工作台的装置中各个工作配件集成度高， 且可拆卸更 换性强， 能够真正意义上实现了高精度下激光焊接的目的。 [0005] The structure is simple, the assembly of the machine is easy; the high-precision operation for realizing laser welding under the control of the intelligent system of the computer; the integration of each work accessory in the device of the worktable is high, and the detachability is strong, The purpose of laser welding with high precision can be realized in a true sense.
对附图的简要说明 Brief description of the drawing
附图说明 DRAWINGS
[0006] 图 1为本发明一种高智能激光焊接机械人系统整体结构图。 图 2为本发明一种高 智能激光焊接机械人系统上部整体结构图。 图 3为本发明一种高智能激光焊接机 械人系统上部爆炸结构图。 图 4为本发明一种高智能激光焊接机械人系统下部整 体结构图。 图 5为本发明一种高智能激光焊接机械人系统下部爆炸结构图。 图中 1-工作台支架， 2-导轨， 3-滑块， 4-底盘， 5-限位块， 6-限位条， 7-电动伸缩长杆 ， 8-步进电机， 9-承台箱， 10-车轱辘盘， 11-L形举臂， 12-固定钢板组， 13-前激 光座夹持台， 14-后激光座夹持台， 15-电动伸缩短杆 a， 16-激光座 a， 17-激光座 b ， 18-激光座 c， 19-激光座 d， 20-角钢片， 21-激光焊接板， 22-左电动伸缩双杆， 23-右电动伸缩双杆， 24-电动伸缩短杆 b， 25-焊接助焊剂。 1 is an overall structural diagram of a high-intelligence laser welding robot system according to the present invention. 2 is a view showing the overall structure of an upper portion of a high-intelligence laser welding robot system according to the present invention. Fig. 3 is a view showing the upper explosion structure of a high-intelligent laser welding robot system according to the present invention. Fig. 4 is a view showing the overall structure of a lower part of a highly intelligent laser welding robot system according to the present invention. FIG. 5 is a bottom exploded structural view of a high-intelligence laser welding robot system according to the present invention. In the picture - 1 table bracket, 2-rail, 3-slider, 4-chassis, 5-position block, 6-limit strip, 7- electric telescopic long rod, 8-step motor, 9-bolret Box, 10-car tray, 11-L lifting arm, 12-fixed steel plate set, 13-front laser seat clamping table, 14- rear laser seat clamping table, 15-electric telescopic short rod a, 16-laser Block a, 17-laser mount b, 18-laser mount c, 19-laser mount d, 20-angle steel, 21-laser welded plate, 22-left electric telescopic double bar, 23-right electric telescopic double bar, 24- Electric telescopic short rod b, 25-welding flux.
本发明的实施方式 Embodiments of the invention
[0007] 下面结合附图 1-5对本发明的具体实施方式做一个详细的说明。 实施例: 一种 高智能激光焊接机械人系统， 其主要构造有： 工作台支架 1、 导轨 2、 滑块 3、 底 盘 4、 限位块 5、 限位条 6、 电动伸缩长杆 7、 步进电机 8、 承台箱 9、 车轱辘盘 10
、 L形举臂 11、 固定钢板组 12、 前激光座夹持台 13、 后激光座夹持台 14、 电动伸 缩短杆 al5、 激光座 al6、 激光座 bl7、 激光座 cl8、 激光座 dl9、 角钢片 20、 激光 焊接板 21、 左电动伸缩双杆 22、 右电动伸缩双杆 23、 电动伸缩短杆 b24、 焊接助 焊剂 25， 所述的工作台支架 1上顶端两侧均设有导轨 2， 导轨 2上通过滑块 3搁置 有底盘 4; 所述的底盘 4一侧边与电动伸缩长杆 7的伸缩端杆相固定， 电动伸缩长 杆 7的机座部分通过连接件与工作台支架 1相固定。 所述的底盘 4中心位置幵有圆 形的孔槽， 孔槽的两侧各设有限位条 6， 孔槽的端角位置处设有限位块 5 ; 所述 的底盘 4的孔槽下设有承台箱 9， 承台箱 9底下设有步进电机 8， 所述的步进电机 8 其动力输出轴贯通孔槽。 所述的工作台支架 1一侧通过钢板螺栓固定有 L形举臂 1 1， L形举臂 11末端焊接有固定钢板组 12， 固定钢板组 12左右两侧通过螺栓各固 定有左电动伸缩双杆 22、 右电动伸缩双杆 23。 所述的前激光座夹持台 13通过螺 栓固定于 L形举臂 11末端底下位置处， 所述的后激光座夹持台 14通过螺栓固定于 L形举臂 11中端底下位置处。 所述的前激光座夹持台 13内夹持有两个电动伸缩短 杆 al5， 并且在电动伸缩短杆 al5下分别固定有激光座 al6、 激光座 Μ7。 所述的后 激光座夹持台 14内夹持有两个电动伸缩短杆 al5， 并且在后激光座夹持台 14下分 别固定有激光座 cl8、 激光座 dl9。 所述的固定钢板组 12前端通过螺栓与角钢片 20 相固定， 角钢片 20底端与后激光座夹持台 14底端之间架立有激光焊接板 21。 所 述的左电动伸缩双杆 22、 右电动伸缩双杆 23末端槽腔内均夹持电动伸缩短杆 b24 ， 所述的电动伸缩短杆 b24下固定有焊接助焊剂 25。 所述的底盘 4中心位置上搁 置有车轱辘盘 10。 所述的车轱辘盘 10中心位置被步进电机 8的动力输出轴所固定 。 所述的步进电机 8、 电动伸缩短杆 al5、 电动伸缩短杆 b24通过计算机的智能系 统控制。 本发明设计的工作台主要是为车轱辘盘 10激光焊接使用的。 设备采用 了两套系统同吋协同工作的， 下面针对本工作台整个实施过程进行一个描述： 首先将需要焊接的两块车轱辘盘 10依次的套入步进电机 8的动力输出轴上， 并且 通过限位块 5、 限位条 6将其在一定的范围进行可活动性的夹持。 将激光焊接材 料放置于激光焊接板 21上吸附固定， 在电动伸缩短杆 b24下装载好焊接助焊剂 25 ； 调整好前激光座夹持台 13、 后激光座夹持台 14下的激光座 al6、 激光座 Μ7、 激 光座 cl8、 激光座 dl9的相对位置。 启动左电动伸缩双杆 22、 右电动伸缩双杆 23将
焊接助焊剂 25推入工作台支架 1下， 并且调整好激光焊接板 21上的激光覆材料条 。 最后启动电动伸缩长杆 7使得底盘 4平移至 L形举臂 11的正对位置下。 驱动步进 电机 8高速旋转， 启动激光座 al6、 激光座 Μ7、 激光座 cl8、 激光座 dl9的同吋， 与之匹配的激光焊接板 21及焊接助焊剂 25协同工作。 以上显示和描述了本发明 的基本原理、 主要特征和本发明的优点。 本行业的技术人员应该了解， 本发明 不受上述实施例的限制， 上述实施例和说明书中描述的只是说明本发明的原理 ， 在不脱离本发明精神和范围的前提下， 本发明还会有各种变化和改进， 这些 变化和改进都落入要求保护的本发明范围内。 本发明要求保护范围由所附的权 利要求书及其等效物界定。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A specific embodiment of the present invention will be described in detail below with reference to FIGS. Embodiment: A high-intelligence laser welding robot system, the main structure of which is: workbench support 1, guide rail 2, slider 3, chassis 4, limit block 5, limit strip 6, electric telescopic long rod 7, step Into the motor 8, the header box 9, the rut plate 10 , L-shaped lifting arm 11 , fixed steel plate set 12 , front laser seat clamping table 13 , rear laser seat clamping table 14 , electric telescopic short bar a5 , laser base a6 , laser seat bl7 , laser seat cl8 , laser seat dl9 , An angle steel sheet 20, a laser welded plate 21, a left electric telescopic double rod 22, a right electric telescopic double rod 23, an electric telescopic short rod b24, a welding flux 25, and a guide rail 2 is arranged on both sides of the top end of the table support 1 The bottom plate 4 is placed on the guide rail 2 by the slider 3; the side of the chassis 4 is fixed to the telescopic end rod of the electric telescopic long rod 7, and the base portion of the electric telescopic long rod 7 passes through the connecting piece and the table bracket. 1 phase is fixed. The chassis 4 has a circular hole in the center of the chassis 4, and a limiting strip 6 is disposed on each side of the slot, and a limiting block 5 is disposed at an end corner of the slot; the slot 4 of the chassis 4 is disposed under the slot There is a bearing box 9, and a stepping motor 8 is arranged under the bearing box 9. The stepping motor 8 has a power output shaft through the hole slot. The side of the table bracket 1 is fixed with an L-shaped lifting arm 1 by a steel plate bolt, and a fixed steel plate group 12 is welded to the end of the L-shaped lifting arm 11. The left and right sides of the fixed steel plate group 12 are fixed with a left electric telescopic double by bolts. Rod 22, right electric telescopic double rod 23. The front laser seat clamping table 13 is fixed to the bottom position of the end of the L-shaped lifting arm 11 by bolts, and the rear laser seat clamping table 14 is fixed to the bottom position of the L-shaped lifting arm 11 by bolts. The front laser holder holding table 13 has two electric telescopic short rods a5, and a laser base a6 and a laser base 7 are fixed to the electric telescopic short rods a5. Two electric telescopic short rods a5 are sandwiched in the rear laser holder holding table 14, and a laser holder cl8 and a laser holder d15 are respectively fixed under the rear laser holder holding table 14. The front end of the fixed steel plate set 12 is fixed to the angle steel piece 20 by bolts, and a laser welded plate 21 is erected between the bottom end of the angle steel piece 20 and the bottom end of the rear laser seat holding table 14. The left electric telescopic double rod 22 and the right electric telescopic double rod 23 end chambers each hold an electric telescopic short rod b24, and the electric telescopic short rod b24 is fixed with a welding flux 25. The ram 10 is placed at the center of the chassis 4. The center position of the ram 10 is fixed by the power output shaft of the stepping motor 8. The stepping motor 8, the electric telescopic short rod a5, and the electric telescopic short rod b24 are controlled by an intelligent system of a computer. The workbench designed by the present invention is mainly used for laser welding of the ram plate 10. The equipment uses two sets of systems to work together. The following is a description of the entire implementation process of the workbench: First, the two brake discs 10 to be welded are sequentially inserted into the power output shaft of the stepping motor 8, and The limit block 5 and the limit strip 6 are movably clamped in a certain range. The laser welding material is placed on the laser welded plate 21 to be fixed and fixed, and the soldering flux 25 is loaded under the electric telescopic short rod b24; the laser seat al6 under the front laser holder holding table 13 and the rear laser holder holding table 14 is adjusted. The relative position of the laser holder 7, the laser holder cl8, and the laser holder dl9. Start the left electric telescopic double rod 22, the right electric telescopic double rod 23 will The soldering flux 25 is pushed under the table holder 1 and the laser-coated material strip on the laser-welded board 21 is adjusted. Finally, the electric telescopic long rod 7 is activated to translate the chassis 4 to the opposite position of the L-shaped lifting arm 11. The stepping motor 8 is driven to rotate at a high speed, and the laser holder a6, the laser holder 7, the laser holder cl8, and the laser holder dl9 are activated, and the matched laser welding plate 21 and the soldering flux 25 work together. The basic principles, main features and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing embodiments and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.
Claims
[权利要求 1] 一种高智能激光焊接机械人系统， 其主要构造有： 工作台支架 （1 [Claim 1] A high-intelligence laser welding robot system, the main structure of which is: a table support (1
、 导轨 （2) 、 滑块 （3) 、 底盘 （4) 、 限位块 （5) 、 限位条 （6, guide rail (2), slider (3), chassis (4), limit block (5), limit bar (6
、 电动伸缩长杆 （7) 、 步进电机 （8) 、 承台箱 （9) 、 车轱辘盘 （1 0) 、 L形举臂 （11) 、 固定钢板组 （12) 、 前激光座夹持台 （13) 、 后激光座夹持台 （14) 、 电动伸缩短杆 a ( 15) 、 激光座 a ( 16) 、 激光座 b ( 17) 、 激光座 c ( 18) 、 激光座 d ( 19) 、 角钢片 （20) 、 激光焊接板 （21) 、 左电动伸缩双杆 (22) 、 右电动伸缩双杆 （23) 、 电动伸缩短杆 b (24) 、 焊接助焊剂 （25) ， 其特征在于： 工作台 支架 （1) 上顶端两侧均设有导轨 （2) ， 导轨 （2) 上通过滑块 （3) 搁置有底盘 （4) ； 所述的底盘 （4) 一侧边与电动伸缩长杆 （7) 的 伸缩端杆相固定， 电动伸缩长杆 （7) 的机座部分通过连接件与工作 台支架 （1) 相固定。 所述的底盘 （4) 中心位置幵有圆形的孔槽， 孔 槽的两侧各设有限位条 （6) ， 孔槽的端角位置处设有限位块 （5) ； 所述的底盘 （4) 的孔槽下设有承台箱 （9) ， 承台箱 （9) 底下设有 步进电机 （8) ， 所述的步进电机 （8) 其动力输出轴贯通孔槽。 所述 的工作台支架 （1) 一侧通过钢板螺栓固定有 L形举臂 （11) ， L形举 臂 （11) 末端焊接有固定钢板组 （12) ， 固定钢板组 （12) 左右两侧 通过螺栓各固定有左电动伸缩双杆 (22) 、 右电动伸缩双杆 （23) 。 所述的前激光座夹持台 （13) 通过螺栓固定于 L形举臂 （11) 末端底 下位置处， 所述的后激光座夹持台 （14) 通过螺栓固定于 L形举臂 （ 11) 中端底下位置处。 所述的前激光座夹持台 （13) 内夹持有两个电 动伸缩短杆 a ( 15) ， 并且在电动伸缩短杆 a ( 15) 下分别固定有激光 座 a ( 16) 、 激光座 b ( 17) 。 所述的后激光座夹持台 （14) 内夹持有 两个电动伸缩短杆 a ( 15) ， 并且在后激光座夹持台 （14) 下分别固 定有激光座 c ( 18) 、 激光座 d ( 19) 。 所述的固定钢板组 （12) 前端 通过螺栓与角钢片 （20) 相固定， 角钢片 （20) 底端与后激光座夹持 台 （14) 底端之间架立有激光焊接板 （21) 。 所述的左电动伸缩双杆
(22) 、 右电动伸缩双杆 （23) 末端槽腔内均夹持电动伸缩短杆 b (2 4) ， 所述的电动伸缩短杆 b (24) 下固定有焊接助焊剂 （25) 。 , Electric telescopic long rod (7), stepping motor (8), bearing box (9), rutting disc (1 0), L-shaped lifting arm (11), fixed steel plate set (12), front laser seat clamp Holding table (13), rear laser holder clamping table (14), electric telescopic short rod a (15), laser holder a (16), laser holder b (17), laser holder c (18), laser holder d ( 19), angle steel sheet (20), laser welded plate (21), left electric telescopic double rod (22), right electric telescopic double rod (23), electric telescopic short rod b (24), welding flux (25), The utility model is characterized in that: a guide rail (2) is arranged on both sides of the upper end of the table support (1), and a chassis (4) is placed on the guide rail (2) through the slider (3); one side of the chassis (4) It is fixed to the telescopic end rod of the electric telescopic long rod (7), and the base portion of the electric telescopic long rod (7) is fixed to the table bracket (1) through the connecting piece. The central position of the chassis (4) has a circular hole groove, and the two sides of the hole groove are respectively provided with a limiting strip (6), and a limiting block (5) is arranged at the end corner position of the hole groove; the chassis (4) A bearing box (9) is arranged under the hole, and a stepping motor (8) is arranged under the bearing box (9), and the stepping motor (8) has a power output shaft through the hole slot. One side of the table support (1) is fixed with an L-shaped lifting arm (11) by a steel plate bolt, and a fixed steel plate group (12) is welded to the end of the L-shaped lifting arm (11), and the left and right sides of the fixed steel plate group (12) are fixed. The left electric telescopic double rod (22) and the right electric telescopic double rod (23) are fixed by bolts. The front laser seat clamping table (13) is fixed to the bottom position of the L-shaped lifting arm (11) by bolts, and the rear laser seat clamping table (14) is fixed to the L-shaped lifting arm by bolts (11) ) The bottom position is at the bottom. The front laser seat clamping table (13) has two electric telescopic short rods a (15), and a laser base a (16) and a laser seat are respectively fixed under the electric telescopic short rods a (15). b (17). The rear laser holder clamping table (14) has two electric telescopic short rods a (15), and a laser holder c (18) and a laser are respectively fixed under the rear laser holder clamping table (14). Block d (19). The front end of the fixed steel plate set (12) is fixed to the angle steel piece (20) by bolts, and a laser welded plate (21) is arranged between the bottom end of the angle steel piece (20) and the bottom end of the rear laser seat clamping table (14). . The left electric telescopic double rod (22), Right electric telescopic double rod (23) The electric telescopic short rod b (2 4) is clamped in the end slot cavity, and the welding flux (25) is fixed under the electric telescopic short rod b (24).
[权利要求 2] 根据权利要求 1所述的一种高智能激光焊接机械人系统， 其特征在于 所述的底盘 （4) 中心位置上搁置有车轱辘盘 （10) 。 [Claim 2] A high-intelligence laser welding robot system according to claim 1, characterized in that the stern (10) is placed at the center of the chassis (4).
[权利要求 3] 根据权利要求 1所述的一种高智能激光焊接机械人系统， 其特征在于 所述的车轱辘盘 （10) 中心位置被步进电机 （8) 的动力输出轴所固 定。 [Claim 3] A high-intelligence laser welding robot system according to claim 1, characterized in that the center position of the ram plate (10) is fixed by the power output shaft of the stepping motor (8).
[权利要求 4] 根据权利要求 1所述的一种高智能激光焊接机械人系统， 其特征在于 所述的步进电机 （8) 、 电动伸缩短杆 a ( 15) 、 电动伸缩短杆 b (24 ) 通过计算机的智能系统控制。
[Claim 4] A high-intelligence laser welding robot system according to claim 1, characterized in that the stepping motor (8), the electric telescopic short rod a (15), and the electric telescopic short rod b ( 24) Controlled by the intelligent system of the computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/077185 WO2018170635A1 (en) | 2017-03-18 | 2017-03-18 | High-intelligence laser welding robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/077185 WO2018170635A1 (en) | 2017-03-18 | 2017-03-18 | High-intelligence laser welding robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018170635A1 true WO2018170635A1 (en) | 2018-09-27 |
Family
ID=63583996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2017/077185 WO2018170635A1 (en) | 2017-03-18 | 2017-03-18 | High-intelligence laser welding robot system |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2018170635A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029615A (en) * | 2021-12-01 | 2022-02-11 | 合肥常青机械股份有限公司 | Laser welding device for processing automobile parts |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007329166A (en) * | 2006-06-06 | 2007-12-20 | Disco Abrasive Syst Ltd | Method for dicing wafer |
| CN102000911A (en) * | 2010-07-29 | 2011-04-06 | 西安交通大学 | Five-axis linkage laser processing machine |
| CN102011123A (en) * | 2010-11-26 | 2011-04-13 | 华中科技大学 | Special equipment for laser micro-cladding |
| CN203316867U (en) * | 2013-04-10 | 2013-12-04 | 广州戈思威工业机器人有限公司 | Matrix-type intelligent tin soldering industrial robot device |
| JP2014200829A (en) * | 2013-04-08 | 2014-10-27 | 株式会社ジャパンユニックス | Soldering apparatus with position confirmation jig for solder feed needle and position confirmation jig |
| CN204234974U (en) * | 2014-09-30 | 2015-04-01 | 余姚市富达电子有限公司 | With the girth welding machine of laser gun |
| CN204470781U (en) * | 2015-01-19 | 2015-07-15 | 中国科学院宁波材料技术与工程研究所 | A kind of Five-axis linkage laser processing machine based on speculum leaded light |
| CN206204423U (en) * | 2016-10-19 | 2017-05-31 | 宁波中物东方光电技术有限公司 | A kind of laser melting coating workbench based on intelligent control technology |
-
2017
- 2017-03-18 WO PCT/CN2017/077185 patent/WO2018170635A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007329166A (en) * | 2006-06-06 | 2007-12-20 | Disco Abrasive Syst Ltd | Method for dicing wafer |
| CN102000911A (en) * | 2010-07-29 | 2011-04-06 | 西安交通大学 | Five-axis linkage laser processing machine |
| CN102011123A (en) * | 2010-11-26 | 2011-04-13 | 华中科技大学 | Special equipment for laser micro-cladding |
| JP2014200829A (en) * | 2013-04-08 | 2014-10-27 | 株式会社ジャパンユニックス | Soldering apparatus with position confirmation jig for solder feed needle and position confirmation jig |
| CN203316867U (en) * | 2013-04-10 | 2013-12-04 | 广州戈思威工业机器人有限公司 | Matrix-type intelligent tin soldering industrial robot device |
| CN204234974U (en) * | 2014-09-30 | 2015-04-01 | 余姚市富达电子有限公司 | With the girth welding machine of laser gun |
| CN204470781U (en) * | 2015-01-19 | 2015-07-15 | 中国科学院宁波材料技术与工程研究所 | A kind of Five-axis linkage laser processing machine based on speculum leaded light |
| CN206204423U (en) * | 2016-10-19 | 2017-05-31 | 宁波中物东方光电技术有限公司 | A kind of laser melting coating workbench based on intelligent control technology |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029615A (en) * | 2021-12-01 | 2022-02-11 | 合肥常青机械股份有限公司 | Laser welding device for processing automobile parts |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115194352A (en) | Laser welding device convenient to adjust | |
| JP2021510122A (en) | Laser addition manufacturing method and system based on key Hall effect | |
| WO2018170635A1 (en) | High-intelligence laser welding robot system | |
| CN213730074U (en) | Automatic welding device capable of being accurately positioned | |
| CN211361032U (en) | Panel laser-beam welding machine | |
| CN210024305U (en) | Improved generation welded platform | |
| CN217647655U (en) | Miniature laser pad with centre gripping locate function | |
| CN213379915U (en) | Welding plate for laser welding | |
| CN109604846A (en) | A kind of apparatus for welding and positioning | |
| CN205290068U (en) | Laser -beam welding machine automatic tracking mechanism | |
| CN208840793U (en) | A kind of adjustable precision welding machine worktable | |
| CN208358175U (en) | A kind of laser welding positioning device | |
| CN217290898U (en) | Heat dissipation type laser-beam welding machine | |
| CN215145701U (en) | Manual-automatic integrated laser welding machine | |
| CN213163627U (en) | Welding equipment for realizing welding of two material sheet patches | |
| CN206869325U (en) | A kind of Laser Welding sheet material clamping assistant device | |
| CN113828922B (en) | Laser spot welding machine for hardware mould processing | |
| CN201183176Y (en) | Welding machine | |
| CN114985993A (en) | Laser cutting clamp | |
| CN219944932U (en) | Argon protection device for titanium alloy laser welding | |
| CN213945274U (en) | Clamping tool convenient for angle adjustment for laser welding machine | |
| CN206732433U (en) | A kind of laser welding fixing tool | |
| CN216541381U (en) | Automatic feeding mechanism of laser welding machine | |
| CN216656746U (en) | Laser welding machine | |
| CN220296181U (en) | Optical fiber laser welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17901673 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 17901673 Country of ref document: EP Kind code of ref document: A1 |