CN109014672B

CN109014672B - Right-angle welding seam track bidirectional tracking device and tracking method thereof

Info

Publication number: CN109014672B
Application number: CN201810836527.6A
Authority: CN
Inventors: 李振杰; 李东帅; 王静; 王鑫; 赵佩娜; 于磊
Original assignee: Henan Institute of Engineering
Current assignee: Henan Institute of Engineering
Priority date: 2018-07-26
Filing date: 2018-07-26
Publication date: 2021-02-12
Anticipated expiration: 2038-07-26
Also published as: CN109014672A

Abstract

The invention discloses a bidirectional tracking device and a bidirectional tracking method for a right-angle welding seam track, which solve the technical problems that the shape of a fillet weld can be bent and deformed due to the influence of factors such as shape error, welding deformation and the like on a weldment forming the fillet weld, the deformation is irregular and difficult to predict, and the deformation is difficult to express by a mathematical model. The horizontal sliding block is arranged on the transverse plate, a horizontal sliding rail is arranged between the fixed plate and the horizontal sliding block, a horizontal spring is arranged on the left side of the horizontal sliding block, and the right side of the horizontal sliding block is connected with the linear roller; vertical slider sets up in the riser left side, is equipped with vertical slide rail between riser and the vertical slider, and vertical slider top is equipped with vertical spring, and vertical slider below is equipped with the montant, and the montant lower extreme is equipped with steel ball gyro wheel, and the montant right side is equipped with the handle. The invention realizes bidirectional profile tracking in two vertical directions, and has simple structure and higher precision; the price is low; tracking has no delay and good real-time performance; the anti-interference capability is strong, and the welding device can adapt to worse welding conditions.

Description

Right-angle welding seam track bidirectional tracking device and tracking method thereof

Technical Field

The invention relates to the field of automatic welding, in particular to a metal right-angle welding seam track tracking device and a tracking method thereof.

Background

A fillet weld is the most common fillet weld in industrial production, and generally consists of a steel plate, angle iron, channel steel, i-shaped steel, flat iron and the like. In theory, the fillet is in a straight line state, but due to factors such as a shape error of a weldment constituting the fillet, welding deformation, and the like, the shape of the fillet is subjected to bending deformation, and is difficult to express by a mathematical model. When welding is carried out by adopting a welding robot or an automatic welding machine, welding defects such as welding deviation, welding missing and the like can occur, and the defects need to be avoided. In the existing welding seam tracking technology, a camera and other sensors are used for collecting shape data of a welding seam, the shape data are transmitted to a control system of a welding robot for data processing, and the control system sends an instruction to a walking system to operate according to a welding seam track. The limitation of the technology is that the technology can only be used on welding robot equipment with a control system, the automatic welding machine without a controller cannot be used, the welding environment is high in temperature and large in dust, the precision and the service life of sensors such as a camera are affected, and the requirement on a controller CPU is high.

Disclosure of Invention

The invention aims to solve the technical problems that the shape of a fillet weld can be bent and deformed due to the influence of factors such as shape error, welding deformation and the like, the deformation is irregular and difficult to predict, and the deformation is difficult to express by a mathematical model, and provides a right-angle welding track bidirectional tracking device which adopts a mechanical tracking mode, has a wide application range and low requirements on welding environments and is particularly suitable for production of medium and small enterprises and a tracking method thereof.

In order to solve the technical problems, the invention adopts the following technical scheme: a right-angle welding seam track bidirectional tracking device comprises a fixed plate, a horizontal sliding block, a linear roller, a vertical sliding block, a transverse plate and a vertical plate, wherein the transverse plate and the vertical plate are vertically fixed; vertical slider sets up in the riser left side, is equipped with vertical slide rail between riser and the vertical slider, and vertical slider top is equipped with vertical spring, and vertical slider below is equipped with the montant, and the montant lower extreme is equipped with steel ball gyro wheel, and the montant right side is equipped with the handle.

The linear roller is in contact with the vertical weldment, the steel ball roller is in contact with the horizontal weldment, and the horizontal spring and the vertical spring are compression springs.

The contact surface of the linear roller and the vertical weldment is on the same vertical surface with the fillet weld.

The contact surface of the linear roller and the vertical weldment is not on the same vertical surface with the fillet weld, and the linear roller is connected with the horizontal sliding block through the extension plate.

And a welding handle nozzle is arranged at the lower side of the welding handle.

A tracking method of a right-angle welding seam track bidirectional tracking device is characterized by comprising the following steps: firstly, a horizontal spring is installed, and a pre-compression amount is generated when the horizontal spring is installed, so that a linear roller connected with a horizontal sliding block is always pressed on a vertical weldment; secondly, a vertical spring is installed, and pre-compression amount exists when the vertical spring is installed, so that a steel ball roller connected with a vertical sliding block is always pressed on a horizontal welding piece; the welding handle is fixedly connected with the vertical sliding block, and the fixed plate is arranged on a moving arm of the welding robot or the automatic welding machine; and fourthly, welding the welding handle opposite to the fillet weld formed by the vertical weldment and the horizontal weldment.

And fourthly, when the welding handle is welded along the fillet weld, the welding handle moves along the welding movement direction, the linear roller moves on the uneven vertical welding piece surface, the horizontal sliding block moves along the welding direction and can also do fluctuation movement perpendicular to the vertical welding piece, and meanwhile, the welding handle and the horizontal sliding block synchronously move.

And fifthly, when the welding handle is welded along the fillet weld, the welding handle moves along the welding movement direction, the steel ball roller moves on the surface of the uneven horizontal welding piece, the vertical slide block moves along the welding direction and can also move up and down perpendicular to the horizontal welding piece, and the welding handle and the vertical slide block synchronously move at the same time, so that the weld tracking in the vertical direction is realized.

The invention realizes bidirectional profile tracking in two vertical directions, and has simple structure and higher precision; the price is low; tracking has no delay and good real-time performance; the anti-interference capability is strong, and the welding device can adapt to worse welding conditions. Suitable for welding robots, including joint robots and cartesian robots; is also suitable for automatic welding machines. The applicability is strong, and the linear roller can be correspondingly changed according to the type and the size of a weldment.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a graph of weld shape versus direction of welding movement for the present invention;

FIG. 3 is a schematic structural view of the present invention;

FIG. 4 is a schematic structural view of a straight line roller and a contact surface of a vertical weldment, which is in a use state when a fillet weld and the vertical weldment are on the same vertical surface and are flat steel;

FIG. 5 is a schematic structural view of a use state of a straight line roller and a contact surface of a vertical weldment and a fillet weld on the same vertical surface, wherein the vertical weldment is a channel steel;

FIG. 6 is a schematic structural view of a straight line roller and a contact surface of a vertical weldment and a fillet weld on the same vertical surface, wherein the vertical weldment is an I-shaped steel in a use state;

FIG. 7 is a schematic structural view of a use state when a contact surface of a linear roller and a vertical weldment is not on the same vertical surface as a fillet weld and the vertical weldment is an angle steel;

FIG. 8 is a structural diagram illustrating the installation dimensions of the linear roller with the contact surface of the linear roller with the vertical weldment on the same vertical plane as the fillet weld;

FIG. 9 is a structural diagram of the installation size of the linear roller, wherein the contact surface of the linear roller and the vertical weldment is not on the same vertical surface with the fillet weld.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1 to 9, a right-angle welding track bidirectional tracking device comprises a fixed plate 1, a horizontal slider 4, a linear roller 5, a vertical slider 8, a horizontal plate 14 and a vertical plate 15, wherein the horizontal plate 14 and the vertical plate 15 are vertically fixed, the horizontal slider 4 is arranged on the horizontal plate 14, a horizontal sliding rail 2 is arranged between the fixed plate 1 and the horizontal slider 4, a horizontal spring 3 is arranged on the left side of the horizontal slider 4, and the right side of the horizontal slider is connected with the linear roller 5; vertical slider 8 sets up in riser 15 left side, is equipped with vertical slide rail 6 between riser 15 and the

vertical slider

8, and 8 tops of vertical slider are equipped with

vertical spring

7, and 8 below of vertical slider are equipped with

montant

11, and 11 lower extremes of montant are equipped with steel

ball gyro wheel

10, and 11 right sides of montant are equipped with and weld handle 9. The horizontal sliding block 4 can move left and right relative to the fixed plate 1, the linear roller 5 is installed on the horizontal sliding block 4, and the linear roller 5 can be replaced. A horizontal sliding rail 6 and a compressed vertical spring 7 are arranged between the vertical sliding block 8 and the horizontal sliding block 4, the vertical sliding block can move up and down, and the steel ball roller can roll on the horizontal plane. The welding handle 9 is fixed on the vertical sliding block 8. The tracking structure can complete the tracking welding of fillet welds with different specifications.

The weld joint tracking of the invention is based on a profiling principle, namely that the surface shape of a weldment has similarity with the shape of a weld joint. FIG. 1 is a schematic diagram of the weld tracking of the present invention. The horizontal spring is a compression spring, has pre-compression amount during installation, and always compresses the linear roller on the horizontal sliding block on the vertical weldment. Similarly, the vertical spring is also a compression spring, and has pre-compression amount during installation, so that the steel ball roller on the vertical sliding block is always pressed on the horizontal welding piece. The welding handle is fixedly connected with the vertical sliding block. The fixed plate is mounted on the moving arm of the welding robot or the automatic welding machine and can do linear motion along the direction vertical to the paper surface. The vertical weldment and the horizontal weldment form a fillet weld, and the welding handle is welded opposite to the fillet weld.

The linear roller 5 is in contact with a vertical weldment 12, the steel ball roller 10 is in contact with a horizontal weldment 13, and the horizontal spring 3 and the vertical spring 7 are compression springs.

The contact surface of the linear roller 5 and the vertical weldment 12 is on the same vertical plane as the fillet weld 17. As shown in fig. 4-6, the vertical weldment 12 in this case may be a flat steel 21, a channel steel 22, or an i-steel 23. The linear roller moves along the left side surface of the flat iron, the channel steel or the I-steel, and the steel ball roller moves on the surface of the horizontal weldment. The welding handle realizes profile tracking along the fillet weld.

The contact surface of the linear roller 5 and the vertical weldment 12 is not on the same vertical surface with the fillet weld 17, and the linear roller 5 is connected with the horizontal sliding block 4 through an extension plate 51. As shown in fig. 7-9, this is the case for the angle iron 24 fillet weld, where the linear roller contact angle steel face is not in the same vertical plane as the weld. Therefore, the roller mounting dimension is different from that of the linear roller in fig. 4 to 6, the extension plate 51 needs to be arranged, the mounting dimension L2 in fig. 9 is larger than the mounting dimension L1 in fig. 8, the width of the linear roller is also different, and the linear roller can be replaced according to the specific situation of the weldment.

A welding handle nozzle 16 is arranged at the lower side of the welding handle 9.

A tracking method of a right-angle welding seam track bidirectional tracking device comprises the following steps: firstly, a horizontal spring is installed, and a pre-compression amount is generated when the horizontal spring is installed, so that a linear roller connected with a horizontal sliding block is always pressed on a vertical weldment; secondly, a vertical spring is installed, and pre-compression amount exists when the vertical spring is installed, so that a steel ball roller connected with a vertical sliding block is always pressed on a horizontal welding piece; the welding handle is fixedly connected with the vertical sliding block, and the fixed plate is arranged on a moving arm of the welding robot or the automatic welding machine; and fourthly, welding the welding handle opposite to the fillet weld formed by the vertical weldment and the horizontal weldment.

When the welding handle 9 is welded along the fillet weld 17, the welding handle moves along the welding motion direction, the steel ball roller 10 moves on the surface of the uneven horizontal weldment 13, the vertical slide block 8 moves along the welding direction and also moves up and down perpendicular to the horizontal weldment 13, and the welding handle 9 moves synchronously with the vertical slide block 8, so that the weld tracking in the vertical direction is realized.

Due to the existence of factors such as shape error, welding installation error and welding deformation of a weldment, the shape of a fillet weld can be in a wavy state, as shown in fig. 2, the welding motion direction is not parallel to the weld, namely the motion track of a welding handle nozzle is not parallel to the fillet weld, if a weld tracking measure is not adopted, welding deviation, weld missing or infirm welding can occur, and the welding is a weld quality defect and is not allowed to exist. After the welding seam tracking device is adopted, under the action of the horizontal compression spring and the vertical compression spring, the linear roller is always pressed on the vertical welding piece, and the steel ball roller is also always pressed on the horizontal welding piece. Because the welding handle is fixedly connected with the vertical sliding block, the movement track of the welding handle nozzle reproduces the shape of the welding seam, and the bidirectional profiling tracking welding of the welding seam is realized.

Claims

1. The utility model provides a two-way tracking means of right angle weld orbit which characterized in that: the device comprises a fixed plate (1), a horizontal sliding block (4), a linear roller (5), a vertical sliding block (8), a transverse plate (14) and a vertical plate (15), wherein the transverse plate (14) and the vertical plate (15) are vertically fixed, the horizontal sliding block (4) is arranged on the transverse plate (14), a horizontal sliding rail (2) is arranged between the fixed plate (1) and the horizontal sliding block (4), a horizontal spring (3) is arranged on the left side of the horizontal sliding block (4), and the right side of the horizontal sliding block is connected with the linear roller (5); the vertical sliding block (8) is arranged on the left side of the vertical plate (15), a vertical sliding rail (6) is arranged between the vertical plate (15) and the vertical sliding block (8), a vertical spring (7) is arranged above the vertical sliding block (8), a vertical rod (11) is arranged below the vertical sliding block (8), a steel ball roller (10) is arranged at the lower end of the vertical rod (11), and a welding handle (9) is arranged on the right side of the vertical rod (11); when the contact surface of the linear roller (5) and the vertical weldment (12) is on the same vertical surface as the fillet weld (17), the linear roller (5) is in a linear roller shape, the height of the linear roller (5) is greater than that of the vertical weldment (12), the vertical weldment (12) is flat steel (21), channel steel (22) or I-steel (23), and the linear roller (5) moves along the left side surface of the flat steel (21), the channel steel (22) or the I-steel (23); when the contact surface of the linear roller (5) and the vertical weldment (12) is not on the same vertical surface as the fillet weld (17), the linear roller (5) is connected with the horizontal slider (4) through the extension plate (51), the vertical weldment (12) is the fillet weld of the angle iron (24), and the contact angle iron surface of the linear roller (5) and the fillet weld are not on the same vertical plane; the linear roller (5) is in contact with the vertical weldment (12), the steel ball roller (10) is in contact with the horizontal weldment (13), and the horizontal spring (3) and the vertical spring (7) are compression springs.

2. The right-angle weld trace bidirectional tracking device of claim 1, wherein: a welding handle nozzle (16) is arranged at the lower side of the welding handle (9).

3. The method for tracking the right-angle welding seam track bidirectional tracking device according to any one of the claims 1-2, characterized by comprising the following steps: firstly, a horizontal spring (3) is installed, and the horizontal spring (3) has a precompression amount when being installed; secondly, a vertical spring (7) is installed, and the vertical spring (7) has pre-compression amount when being installed; the welding handle (9) is fixedly connected with the vertical sliding block (8), and the fixed plate (1) is arranged on a moving arm of a welding robot or an automatic welding machine; during welding, the linear roller (5) connected with the horizontal sliding block (4) is always pressed on the vertical weldment (12), and the steel ball roller (10) connected with the vertical sliding block (8) is always pressed on the horizontal weldment (13); the welding handle (9) is opposite to the fillet weld (17) formed by the vertical weldment (12) and the horizontal weldment (13) for welding.

4. The tracking method of the right-angle welding seam track bidirectional tracking device according to claim 3, characterized in that: when the welding handle (9) is welded along the fillet weld (17), the welding handle moves along the welding movement direction, the linear roller (5) moves on the surface of the rugged vertical welding piece (12), the horizontal slide block (4) moves along the welding direction and can also move in an undulation mode perpendicular to the vertical welding piece (12), and meanwhile, the welding handle (9) moves synchronously with the horizontal slide block (4), so that the weld tracking in the horizontal direction is realized.

5. The tracking method of the right-angle welding seam track bidirectional tracking device according to claim 3, characterized in that: when the welding handle (9) is welded along the fillet weld (17), the welding handle moves along the welding motion direction, the steel ball roller (10) moves on the surface of the uneven horizontal welding piece (13), the vertical slide block (8) moves along the welding direction and can also move up and down perpendicular to the horizontal welding piece (13), and meanwhile, the welding handle (9) moves synchronously with the vertical slide block (8), thereby realizing the weld tracking in the vertical direction.