CN106736080B - A kind of las er-guidance pipe welding robot - Google Patents
A kind of las er-guidance pipe welding robot Download PDFInfo
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- CN106736080B CN106736080B CN201611241411.5A CN201611241411A CN106736080B CN 106736080 B CN106736080 B CN 106736080B CN 201611241411 A CN201611241411 A CN 201611241411A CN 106736080 B CN106736080 B CN 106736080B
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Classifications
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- 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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- Engineering & Computer Science (AREA)
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- Laser Beam Processing (AREA)
Abstract
The present invention relates to a kind of las er-guidance pipe welding robots, belong to industrial robot field.Including welding tractor and it is arranged on welding gun adjusting mechanism on welding tractor, laser guide and vision inspection apparatus.Welding tractor is firmly adsorbed on soldered pipeline by the present invention by permanent magnetism idler wheel, the driving motor of welding tractor is controlled by controller, and then control permanent magnetism idler wheel that welding tractor is driven to creep 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, to adjust deflect position and the height apart from weld seam of welding gun in real time, so as to fulfill Weld pipe mill from motion tracking.The camera of vision inspection apparatus is also detected soldered weld seam, judges weld appearance quality problems.
Description
Technical field
The present invention relates to a kind of las er-guidance pipe welding robots, 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 required oil, natural gas that produce and live focus mostly in western part.Consider from the safety of transport and cost, manage
Road transport has a clear superiority than highway transportation, railway transportation.
Oil, natural-gas transfer pipeline distance, environment are poor.Pipeline is welded into one of key technology of pipeline laying.
In the case, using human weld, low construction efficiency, labor intensity is big, it is difficult to meet pipeline and be laid with confrontation amount and efficiency
It is required that.
Invention content
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 connect.
A kind of las er-guidance pipe welding robot including welding tractor and is arranged on welding gun adjustment machine on welding tractor
Structure, laser guide and vision inspection apparatus.
The welding tractor is made of car body and front and rear two sets of identical driving devices, and the driving device includes driving electricity
Machine and gear shaft, the output axis connection bevel gear of the driving motor, are engaged, the gear shaft with the bevel gear among gear shaft
Both ends are hinged on the car body, and gear shaft both ends connect firmly two permanent magnetism idler wheels；
The welding gun adjusting mechanism is made of horizontal hunting mechanism and vertical adjustment mechanism, and the horizontal hunting mechanism includes
Horizontal motor, the horizontal motor output shaft are connect with spur gear, and the straight-tooth wheel and rack cooperation, the rack is fixed on tooth
In fixed link, there are two guide rods for the rack both sides, form the sliding rail of rack, the guide rod is fixed on the car body.
The vertical adjustment mechanism includes passing through perpendicular with the fixed vertical transmission mechanism of rack fixed link, vertical transmission mechanism
Straight fixed plate is connect with vertical motor, and welding gun fixed block is fixed on vertical transmission mechanism, and the welding gun is inserted in welding gun fixed block
On trepanning 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 fixed link, and the sensor fixed link is fixed with car body
Connection.
The vision inspection apparatus includes industrial camera and camera controller, the industrial camera by camera fixed frame and
Camera fixed knob is fixed, and the camera fixed frame can slide in camera fixed link, and the camera fixed link is fixed with car body
Connection.
Effect of the invention is that：
Welding tractor is firmly adsorbed on soldered pipeline by the present invention by permanent magnetism idler wheel, passes through controller (not shown)
To control the driving motor of welding tractor, and then control permanent magnetism idler wheel that welding tractor is driven to be climbed along the weld seam of soldered pipeline
Row, detects Weld pipe mill to be welded, and by Weld pipe mill position data real-time Transmission to controller, with reality by laser sensor
When adjust deflect position and the height apart from weld seam of welding gun, so as to fulfill Weld pipe mill from motion tracking, welding gun is automatic
Accurate welding, can effectively ensure that welding quality；In addition, the camera of vision inspection apparatus also carries out soldered weld seam
Detection, judges weld appearance quality problems, checks whether there are problems that undercut, incompletely filling etc. do not meet welding quality requirement,
Welder to be reminded to be adjusted.
Description of the drawings
Fig. 1 is the internal structure stereoscopic schematic diagram of the las er-guidance pipe welding robot of the present invention；
Fig. 2 is the internal structure stereoscopic schematic diagram at another visual angle of the las er-guidance pipe welding robot of the present invention；
Fig. 3 is the schematic diagram of the external structure of the las er-guidance pipe welding robot of the present invention.
Wherein, 1- welding guns, 2- industrial cameras, 3- camera fixed frames, 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 fixed links, 11- teeth
Fixed link, 12- right risers, 13- fixed plates, 14- permanent magnetism idler wheels, 15- bevel gears, 16- pipelines, 17- gear shafts are protected under 18-
Plate, 19- driving motors, 20- bottom plates, 21- horizontal motors, 22- back vertical plates, 23- racks, 24- spur gears, 25- guide rods, 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 fixed links, 33- front vertical plates, 34- connecting plates, 35- upper cover plates, 36- handles, 37- aviation plugs.
Fig. 4, the work flow diagram of the las er-guidance pipe welding robot for the present invention.
Specific embodiment
A kind of las er-guidance pipe welding robot including welding tractor and is arranged on welding gun adjustment machine on welding tractor
Structure, laser guide and vision inspection apparatus.
The welding tractor is made of car body and front and rear two sets of identical driving devices, and the driving device includes driving electricity
Machine 19 and gear shaft 17, the output axis connection bevel gear 15 of the driving motor 19, are engaged, institute with the bevel gear among gear shaft
It states 17 both ends of gear shaft to be hinged in the left risers 21 and right risers 12 of car body, centre is fixed with bevel gear 15, and gear shaft
17 both ends connect firmly two permanent magnetism idler wheels 14.The driving motor 19 is fixed on using fixed plate 13 on the bottom plate 20 of car body.Institute
The driving motor 19 for stating welding tractor is stepper motor or servo motor.
The car body includes bottom plate 20, upper cover plate 35, left risers 21, right risers 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 of horizontal hunting mechanism and vertical adjustment mechanism, and the horizontal hunting mechanism includes
Horizontal motor 31,31 output shaft of horizontal motor are connect with spur gear 24, and the spur gear 24 coordinates with rack 23, the tooth
Item 23 is fixed in rack fixed link 11, and there are two guide rods 25 for the rack both sides, form the sliding rail of rack, the guide rod
25 one end connect firmly on 20 fixed connecting plate 34 of bottom plate, the other end is fixed in the right risers 12 of welding tractor.The water
Flat telegram machine 21 is fixed on using L fixed plates 30 on welding tractor bottom plate 20.
Horizontal motor 31 drives spur gear 24 to rotate, and band carry-over bar 23 moves horizontally, and corresponding rack fixed link 11 is also left
It moves right, the welding gun of end is driven to swing.
The vertical adjustment mechanism includes and the fixed vertical transmission mechanism 29 of rack fixed link 11, vertical transmission mechanism 29
It is connect by vertical fixed plate 28 with vertical motor, welding gun fixed block 5 is fixed on vertical transmission mechanism 29, and the welding gun 1 is inserted
In trepanning 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 passes through synchronous drive ball wire
Bar moves up and down, and welding gun fixed block is integrally fixed on the nut of ball wire rod mechanism, can thus adjust welding gun position up and down
It puts.
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 fixed link 10, the sensor fixed link 10
It is fixedly connected with the right risers 12 of car body.
The vision inspection apparatus includes 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 frame 3 can slide in camera fixed link 32, the camera fixed link 32
It is fixedly connected with the right risers 12 of car body.
Aviation plug 37 and two handles 36 there are two being also set up on 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
It is initially 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 adjusts machine including welding tractor and the welding gun being arranged on welding tractor
Structure, laser guide and vision inspection apparatus；
The welding gun adjusting mechanism is made of horizontal hunting mechanism and vertical adjustment mechanism, and the horizontal hunting mechanism includes level
Motor (31), horizontal motor (31) output shaft are connect with spur gear (24), and the spur gear (24) coordinates with rack (23),
The rack (23) is fixed in rack fixed link (11), and there are two guide rods (25) for the rack both sides, form the cunning of rack
Rail, the guide rod (25) are fixed on the car body；
The vertical adjustment mechanism includes and the fixed vertical transmission mechanism (29) of rack fixed link (11), vertical transmission mechanism
(29) it is connect by vertical fixed plate (28) with vertical motor (27), welding gun fixed block (5) is fixed on vertical transmission mechanism (29)
On, welding gun (1) is inserted in the trepanning 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 fixed link (10), the sensing
Device fixed link (10) is fixedly connected with the vehicle body；
The vision inspection apparatus includes industrial camera (2) and camera controller (26), and the industrial camera (2) is consolidated by camera
Determine frame (3) and camera fixed knob (4) is fixed, the camera fixed frame (3) can be slided in camera fixed link (32), the phase
Machine fixed link (32) is fixedly connected with the vehicle body.
2. las er-guidance pipe welding robot according to claim 1, which is characterized in that the welding tractor is by car body
The driving device composition identical with front and rear two sets, the driving device include driving motor (19) and gear shaft (17), the drive
The output axis connection bevel gear (15) of dynamic motor (19), the bevel gear in driving motor output shaft and the bevel gear among gear shaft
Engagement, gear shaft (17) both ends are hinged on the car body, and gear shaft (17) both ends connect firmly two permanent magnetism idler wheels (14).
3. las er-guidance pipe welding robot according to claim 1, which is characterized in that the car body includes bottom plate
(20), upper cover plate (35), left risers (21), right risers (12), front vertical plate (33), back vertical plate (22) and front and rear two pieces of lower backplates
(18)。
4. las er-guidance pipe welding robot according to claim 2, which is characterized in that the driving motor (19)
It is fixed on the bottom plate (20) of car body using fixed plate (13).
5. the las er-guidance pipe welding robot according to Claims 2 or 3, which is characterized in that the guide rod (25)
One end connect firmly on bottom plate (20) fixed connecting plate (34), the other end is fixed in the right risers (12) of welding tractor, institute
Horizontal motor (21) is stated to be fixed on welding tractor bottom plate (20) using L fixed plates (30).
6. the las er-guidance pipe welding robot according to Claims 2 or 3, which is characterized in that the welding tractor
Aviation plug (36) and two handles (37) there are two being also set up on upper cover plate (35).
7. las er-guidance pipe welding robot according to claim 2, which is characterized in that the driving of the welding tractor
Motor (19) is stepper motor or servo motor.
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 |
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| Publication Number | Publication Date |
|---|---|
| CN106736080A CN106736080A (en) | 2017-05-31 |
| CN106736080B true CN106736080B (en) | 2018-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611241411.5A Active CN106736080B (en) | 2016-12-29 | 2016-12-29 | A kind of las er-guidance pipe welding robot |
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| 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 |
| CN108465912B (en) * | 2018-05-28 | 2023-04-28 | 中国化学工程第六建设有限公司 | Welding carriage capable of preventing arc light and welding slag from splashing |
| 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 |
| 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 |
| 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 |
| CN116475655B (en) * | 2023-06-01 | 2023-10-24 | 武义扬升机械设备有限公司 | Inner circle welding machine |
| CN116493753B (en) * | 2023-06-29 | 2023-09-12 | 合肥经济学院 | High-precision laser welding robot |
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| CN106736080A (en) | 2017-05-31 |
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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 |
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