CN106736080A - A kind of las er-guidance pipe welding robot - Google Patents
A kind of las er-guidance pipe welding robot Download PDFInfo
- Publication number
- CN106736080A CN106736080A CN201611241411.5A CN201611241411A CN106736080A CN 106736080 A CN106736080 A CN 106736080A CN 201611241411 A CN201611241411 A CN 201611241411A CN 106736080 A CN106736080 A CN 106736080A
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- fixed
- welding
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention relates to a kind of las er-guidance pipe welding robot, belong to industrial robot field.Including welding tractor and being arranged on welding gun adjusting mechanism on welding tractor, laser guide and vision inspection apparatus.Firmly be adsorbed in welding tractor on soldered pipeline by permanent magnetism roller by the present invention, the motor of welding tractor is controlled by controller, and then control permanent magnetism roller to drive welding tractor to be creeped along the weld seam of soldered pipeline, Weld pipe mill to be welded is detected by laser sensor, and by Weld pipe mill position data real-time Transmission to controller, with deflect position and the height apart from weld seam of real-time regulation welding gun, so as to realize Weld pipe mill from motion tracking.The camera of vision inspection apparatus also to welding complete weld seam detect, judge weld appearance quality problems.
Description
Technical field
The present invention relates to a kind of las er-guidance pipe welding robot, belong to industrial robot field.
Background technology
China is a geographic big country, population and maldistribution of the resources.Population and industry largely concentrate on east, and
The resources such as oil, natural gas required for production and life focus mostly in western part.Consider from the security and cost of transport, pipe
Road transport has a clear superiority than highway transportation, railway transportation.
Oil, natural-gas transfer pipeline distance, environment are poor.Pipeline welding turns into one of key technology of pipe laying.
In the case, using human weld, low construction efficiency, labour intensity is big, it is difficult to meet pipe laying to quality and efficiency
It is required that.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of las er-guidance pipe welding robot, to improve pipeline weldering
The efficiency and quality for connecing.
A kind of las er-guidance pipe welding robot, including welding tractor and the welding gun adjustment machine on welding tractor that is arranged on
Structure, laser guide and vision inspection apparatus.
The welding tractor is made up of car body and front and rear two sets of identical drive devices, and the drive device includes driving electricity
Machine and gear shaft, the output shaft connection bevel gear of the motor, engage, the gear shaft with the bevel gear in the middle of gear shaft
Two ends are hinged on car body, and gear shaft two ends connect firmly two permanent magnetism rollers；
The welding gun adjusting mechanism is made up of horizontal hunting mechanism and vertical adjustment mechanism, and the horizontal hunting mechanism includes
Horizontal motor, the horizontal motor output shaft is connected with spur gear, and the straight-tooth wheel and rack coordinates, and the tooth bar is fixed on tooth
In bar fix bar, there are two guide posts the tooth bar both sides, constitute the slide rail of tooth bar, and the guide post is fixed on car body.
The vertical adjustment mechanism includes the vertical transmission mechanism fixed with tooth bar fix bar, and vertical transmission mechanism is by perpendicular
Straight fixed plate and vertical motor connection, welding gun fixed block are fixed on vertical transmission mechanism, and the welding gun is inserted in welding gun fixed block
On perforate in, and with welding gun adjusting knob lock.
The las er-guidance device includes laser sensor, and the laser sensor passes through fixing rack for sensor and sensor
Fixed knob is fixed, and the fixing rack for sensor can be slided in sensor fix bar, and the sensor fix bar is fixed with car body
Connection.
The vision inspection apparatus include industrial camera and camera controller, the industrial camera by camera fixed mount and
Camera fixed knob is fixed, and the camera fixed mount can be slided in camera fix bar, and the camera fix bar is fixed with car body
Connection.
Effect of the invention is that：
Firmly be adsorbed in welding tractor on soldered pipeline by permanent magnetism roller by the present invention, by controller (not shown)
To control the motor of welding tractor, and then permanent magnetism roller is controlled to drive welding tractor to be climbed along the weld seam of soldered pipeline
OK, Weld pipe mill to be welded is detected by laser sensor, and by Weld pipe mill position data real-time Transmission to controller, with reality
When regulation welding gun deflect position and the height apart from weld seam, so as to realize Weld pipe mill from motion tracking, welding gun is automatic
Accurate welding, can effectively ensure that welding quality；Additionally, the camera of vision inspection apparatus is also carried out to the weld seam that welding is completed
Detection, judges weld appearance quality problems, checks whether there is a problem of that undercut, incompletely filling etc. do not meet welding quality requirement,
To remind welder to be adjusted.
Brief description of the drawings
Fig. 1 is the internal structure schematic perspective view of las er-guidance pipe welding robot of the invention；
Fig. 2 is the internal structure schematic perspective view at another visual angle of las er-guidance pipe welding robot of the invention；
Fig. 3 is the schematic diagram of the external structure of las er-guidance pipe welding robot of the invention.
Wherein, 1- welding guns, 2- industrial cameras, 3- camera fixed mounts, 4- camera fixed knobs, 5- welding gun fixed blocks, 6- welderings
Rifle adjusting knob, 7- sensor fixed knobs, 8- fixing rack for sensor, 9- laser sensors, 10- sensor fix bars, 11- teeth
Bar fix bar, the right risers of 12-, 13- fixed plates, 14- permanent magnetism rollers, 15- bevel gears, 16- pipelines, 17- gear shafts are protected under 18-
Plate, 19- motors, 20- base plates, 21- horizontal motors, 22- back vertical plates, 23- tooth bars, 24- spur gears, 25- guide posts, 26-
Camera controller, the vertical motors of 27-, the vertical fixed plates of 28-, the vertical transmission mechanisms of 29-, 30-L fixed plates, 31- horizontal motors,
32- camera fix bars, 33- front vertical plates, 34- connecting plates, 35- upper cover plates, 36- handles, 37- aviation plugs.
Fig. 4, is the workflow diagram of las er-guidance pipe welding robot of the invention.
Specific embodiment
A kind of las er-guidance pipe welding robot, including welding tractor and the welding gun adjustment machine on welding tractor that is arranged on
Structure, laser guide and vision inspection apparatus.
The welding tractor is made up of car body and front and rear two sets of identical drive devices, and the drive device includes driving electricity
Machine 19 and gear shaft 17, the output shaft connection bevel gear 15 of the motor 19, engage, institute with the bevel gear in the middle of gear shaft
State the two ends of gear shaft 17 to be hinged on the left riser 21 and right riser 12 of car body, centre is fixed with bevel gear 15, and gear shaft
17 two ends connect firmly two permanent magnetism rollers 14.Described motor 19 is fixed on the base plate 20 of car body using fixed plate 13.Institute
The motor 19 for stating welding tractor is stepper motor or servomotor.
The car body includes base plate 20, upper cover plate 35, left riser 21, right riser 12, front vertical plate 33, back vertical plate 22 and preceding
Two pieces of lower backplates 18 afterwards.
The welding gun adjusting mechanism is made up of horizontal hunting mechanism and vertical adjustment mechanism, and the horizontal hunting mechanism includes
Horizontal motor 31, the output shaft of the horizontal motor 31 is connected with spur gear 24, and the spur gear 24 coordinates with tooth bar 23, the tooth
Bar 23 is fixed in tooth bar fix bar 11, and there are two guide posts 25 the tooth bar both sides, constitutes the slide rail of tooth bar, the guide post
25 one end are connected firmly on the connecting plate 34 fixed with base plate 20, and the other end is fixed on the right riser 12 of welding tractor.The water
Ordinary telegram machine 21 is fixed on welding tractor base plate 20 using L fixed plates 30.
Horizontal motor 31 drives spur gear 24 to rotate, and band carry-over bar 23 is moved horizontally, and corresponding tooth bar fix bar 11 is also left
Move right, drive the welding gun of end to swing.
The vertical adjustment mechanism includes the vertical transmission mechanism 29 fixed with tooth bar fix bar 11, vertical transmission mechanism 29
By vertical fixed plate 28 and vertical motor connection, welding gun fixed block 5 is fixed on vertical transmission mechanism 29, and the welding gun 1 is inserted
In perforate on welding gun fixed block 5, and locked with welding gun adjusting knob 6.
Vertical transmission mechanism 29 is the linear transmission mechanism of ball screw class.Vertical motor 27 drives ball wire by synchronous
Bar is moved up and down, and welding gun fixed block is integrally fixed on the nut of ball wire rod mechanism, thus can up and down adjust welding gun position
Put.
The las er-guidance device includes laser sensor 9, and the laser sensor 9 is by fixing rack for sensor 8 and passes
Sensor fixed knob 7 is fixed, and the fixing rack for sensor 8 can be slided in sensor fix bar 10, the sensor fix bar 10
It is fixedly connected with the right riser 12 of car body.
The vision inspection apparatus include industrial camera 2 and camera controller 26, and the industrial camera 2 is fixed by camera
Frame 3 and camera fixed knob 4 are fixed, and the camera fixed mount 3 can be slided in camera fix bar 32, the camera fix bar 32
It is fixedly connected with the right riser 12 of car body.
Two aviation plugs 37, and two handles 36 are additionally provided with the upper cover plate 35 of the welding tractor.
When carrying out pipeline welding using the robot, the center of the industrial camera 2, laser sensor 9 and welding gun 1
Initially it is respectively positioned on the axis of a weld of soldered pipeline 16.Specific workflow is as shown in Figure 4.
Claims (7)
1. a kind of las er-guidance pipe welding robot, including welding tractor and be arranged on welding gun adjusting mechanism on welding tractor,
Laser guide and vision inspection apparatus；
The welding gun adjusting mechanism is made up of horizontal hunting mechanism and vertical adjustment mechanism, and the horizontal hunting mechanism includes level
Motor (31), horizontal motor (31) output shaft is connected with spur gear (24), and the spur gear (24) coordinates with tooth bar (23),
The tooth bar (23) is fixed in tooth bar fix bar (11), and there are two guide posts (25) the tooth bar both sides, constitutes the cunning of tooth bar
Rail, the guide post (25) is fixed on car body；
The vertical adjustment mechanism includes the vertical transmission mechanism (29) fixed with tooth bar fix bar (11), vertical transmission mechanism
(29) it is connected with vertical motor (27) by vertical fixed plate (28), welding gun fixed block (5) is fixed on vertical transmission mechanism (29)
On, the welding gun (1) is inserted in the perforate on welding gun fixed block (5), and is locked with welding gun adjusting knob (6)；
The las er-guidance device includes laser sensor (9), the laser sensor (9) by fixing rack for sensor (8) and
Sensor fixed knob (7) is fixed, and the fixing rack for sensor (8) can be slided in sensor fix bar (10), the sensor
Fix bar (10) is fixedly connected with the vehicle body；
The vision inspection apparatus include industrial camera (2) and camera controller (26), and the industrial camera (2) is solid by camera
Determine frame (3) and camera fixed knob (4) is fixed, the camera fixed mount (3) can be slided in camera fix bar (32), the phase
Machine fix bar (32) is fixedly connected with the vehicle body.
2. las er-guidance pipe welding robot according to claim 1, it is characterised in that the welding tractor is by car body
Constituted with front and rear two sets of identical drive devices, the drive device includes motor (19) and gear shaft (17), the drive
The output shaft of dynamic motor (19) connects bevel gear (15), is engaged with the bevel gear in the middle of gear shaft, gear shaft (17) two ends
It is hinged on car body, and gear shaft (17) two ends connect firmly two permanent magnetism rollers (14).
3. las er-guidance pipe welding robot according to claim 1, it is characterised in that the car body includes base plate
(20), upper cover plate (35), left riser (21), right riser (12), front vertical plate (33), back vertical plate (22) and front and rear two pieces of lower backplates
(18)。
4. the las er-guidance pipe welding robot according to Claims 2 or 3, it is characterised in that described motor
(19) it is fixed on the base plate of car body (20) using fixed plate (13).
5. the las er-guidance pipe welding robot according to Claims 2 or 3, it is characterised in that the guide post (25)
One end is connected firmly on the connecting plate (34) fixed with base plate (20), and the other end is fixed on the right riser (12) of welding tractor, institute
Horizontal motor (21) is stated to be fixed on welding tractor base plate (20) using L fixed plates (30).
6. the las er-guidance pipe welding robot according to Claims 2 or 3, it is characterised in that the welding tractor
Two aviation plugs (36), and two handles (37) are additionally provided with upper cover plate (35).
7. las er-guidance pipe welding robot according to claim 1, it is characterised in that the driving of the welding tractor
Motor (19) is stepper motor or servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611241411.5A CN106736080B (en) | 2016-12-29 | 2016-12-29 | A kind of las er-guidance pipe welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611241411.5A CN106736080B (en) | 2016-12-29 | 2016-12-29 | A kind of las er-guidance pipe welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106736080A true CN106736080A (en) | 2017-05-31 |
| CN106736080B CN106736080B (en) | 2018-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611241411.5A Active CN106736080B (en) | 2016-12-29 | 2016-12-29 | A kind of las er-guidance pipe welding robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108465912A (en) * | 2018-05-28 | 2018-08-31 | 中国化学工程第六建设有限公司 | A kind of welding tractor that anti-arc light splashes with welding slag |
| CN108581143A (en) * | 2018-04-16 | 2018-09-28 | 哈尔滨理工大学 | A kind of two-freedom regulating mechanism of simple operations |
| CN109483018A (en) * | 2018-11-06 | 2019-03-19 | 湖北书豪智能科技有限公司 | The active vision bootstrap technique of weld seam in automatic welding of pipelines |
| CN110254561A (en) * | 2019-06-04 | 2019-09-20 | 内蒙古鸿信电力工程有限公司 | One kind is from distance measuring type flexible docking trolley and docking location measurement method |
| CN110788532A (en) * | 2019-11-22 | 2020-02-14 | 中通客车控股股份有限公司 | Profile steel welding robot system and working method thereof |
| CN111272812A (en) * | 2020-03-13 | 2020-06-12 | 南通大学 | Device and method for detecting desoldering defect and repairing welding of separator of flow channel in dryer |
| CN114310085A (en) * | 2022-01-14 | 2022-04-12 | 上海建工二建集团有限公司 | Prefabricated pile section spot welding robot and using method thereof |
| CN116475655A (en) * | 2023-06-01 | 2023-07-25 | 武义扬升机械设备有限公司 | Inner circle welding machine |
| CN116493753A (en) * | 2023-06-29 | 2023-07-28 | 合肥经济学院 | High-precision laser welding robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581143A (en) * | 2018-04-16 | 2018-09-28 | 哈尔滨理工大学 | A kind of two-freedom regulating mechanism of simple operations |
| CN108465912A (en) * | 2018-05-28 | 2018-08-31 | 中国化学工程第六建设有限公司 | A kind of welding tractor that anti-arc light splashes with welding slag |
| CN109483018A (en) * | 2018-11-06 | 2019-03-19 | 湖北书豪智能科技有限公司 | The active vision bootstrap technique of weld seam in automatic welding of pipelines |
| CN110254561A (en) * | 2019-06-04 | 2019-09-20 | 内蒙古鸿信电力工程有限公司 | One kind is from distance measuring type flexible docking trolley and docking location measurement method |
| CN110254561B (en) * | 2019-06-04 | 2023-12-19 | 内蒙古鸿信电力股份有限公司 | Self-ranging flexible docking trolley and docking position measuring method |
| CN110788532A (en) * | 2019-11-22 | 2020-02-14 | 中通客车控股股份有限公司 | Profile steel welding robot system and working method thereof |
| CN111272812B (en) * | 2020-03-13 | 2021-11-26 | 南通大学 | Device and method for detecting desoldering defect and repairing welding of separator of flow channel in dryer |
| CN111272812A (en) * | 2020-03-13 | 2020-06-12 | 南通大学 | Device and method for detecting desoldering defect and repairing welding of separator of flow channel in dryer |
| CN114310085A (en) * | 2022-01-14 | 2022-04-12 | 上海建工二建集团有限公司 | Prefabricated pile section spot welding robot and using method thereof |
| CN116475655A (en) * | 2023-06-01 | 2023-07-25 | 武义扬升机械设备有限公司 | Inner circle welding machine |
| CN116475655B (en) * | 2023-06-01 | 2023-10-24 | 武义扬升机械设备有限公司 | Inner circle welding machine |
| CN116493753A (en) * | 2023-06-29 | 2023-07-28 | 合肥经济学院 | High-precision laser welding robot |
| CN116493753B (en) * | 2023-06-29 | 2023-09-12 | 合肥经济学院 | High-precision laser welding robot |
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Effective date of registration: 20200123 Address after: Room 316, University Science Park, No. 18, Longzhong Road, Xiangcheng District, Xiangyang City, Hubei Province Patentee after: Xiangyang Aizhi Pupil Vision Technology Co., Ltd. Address before: Xiangfan City, Hubei Province, long road 441053 Xiangyang city Xiangcheng District No. 296 Patentee before: Hubei University of Arts and Science |