CN111761274A - Automatic welding robot and multi-dimensional detection device thereof - Google Patents
Automatic welding robot and multi-dimensional detection device thereof Download PDFInfo
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- CN111761274A CN111761274A CN202010474667.0A CN202010474667A CN111761274A CN 111761274 A CN111761274 A CN 111761274A CN 202010474667 A CN202010474667 A CN 202010474667A CN 111761274 A CN111761274 A CN 111761274A
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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
- B23K37/0252—Steering means
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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
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Abstract
The invention relates to an automatic welding robot and a multi-dimensional detection device thereof, which comprise a horizontal bracket and a main bracket, wherein the lower end of the main bracket is rotatably connected in the middle of the horizontal bracket; the welding gun is characterized in that a welding gun is fixedly arranged on the main support, horizontal lead screw mechanisms are symmetrically arranged on the horizontal support along the joint of the horizontal support and the main support, each horizontal lead screw mechanism is provided with a horizontal mounting seat, and a detector or a camera is arranged on each horizontal mounting seat. The invention can detect the welding seam from the upper part, the front and the back or the left and the right, and can respectively and independently adjust the position of the detector or the camera, thereby greatly facilitating the acquisition of the welding seam parameter, facilitating the instant detection, feeding back the welding seam quality in time and facilitating the guidance of the next welding parameter.
Description
Technical Field
The invention relates to an automatic welding robot and a multi-dimensional detection device thereof, belonging to the technical field of welding automation.
Background
At present, the welding mode of an automatic welding robot mainly adopts manual teaching, but in the actual welding process, due to factors such as generation of welding deformation, installation positioning and clamping errors, the actual welding seam track comes in and goes out with the welding seam track previously taught manually, the welding seam track previously taught manually cannot meet the actual welding requirement, real-time online identification needs to be carried out on the welding seam track being welded, the moving track of a welding gun is not adjusted continuously, automatic tracking correction is realized, and the welding seam is made to be adaptive to the actual welding seam.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic welding robot and a multi-dimensional detection device thereof, and the specific technical scheme is as follows:
an automatic welding robot and a multi-dimensional detection device thereof comprise a horizontal bracket and a main bracket, wherein the lower end of the main bracket is rotatably connected in the middle of the horizontal bracket, the main bracket is coaxially provided with a vertical lead screw mechanism, the vertical lead screw mechanism is provided with a vertical mounting seat, and a detector or a camera is mounted on the vertical mounting seat; the welding gun is characterized in that a welding gun is fixedly arranged on the main support, horizontal lead screw mechanisms are symmetrically arranged on the horizontal support along the joint of the horizontal support and the main support, each horizontal lead screw mechanism is provided with a horizontal mounting seat, and a detector or a camera is arranged on each horizontal mounting seat.
Further, the vertical screw mechanism comprises a motor arranged at the top of the main bracket, an output shaft of the motor is connected with a screw rod, the lower end of the screw rod is inserted into a screw rod seat, the screw rod seat is fixed at the position of the main bracket near the lower end,
a welding gun fixing seat is fixedly arranged on the side part of the main support, an adapter is fixed on the welding gun fixing seat, the welding seam spray gun is arranged below the adapter,
the welding gun fixing seat is positioned above the screw rod seat and fixed with the main support, and the screw rod penetrates through the center of the welding gun fixing seat.
Further, the vertical mounting seat comprises a primary mounting plate and a secondary mounting plate, a screw rod sleeve is fixedly arranged on the primary mounting plate towards one side surface of the main support, the screw rod penetrates through the screw rod sleeve, the screw rod can drive the screw rod sleeve to translate along the screw rod when rotating,
the second grade mounting panel adsorbs on one-level mounting panel surface, installs detector or camera on the second grade mounting panel.
Furthermore, the secondary mounting plate is provided with a threaded hole in a through manner, the periphery of the threaded hole is provided with an embedded expanding groove, the bolt penetrates through the threaded hole and extends to the back surface of the main bracket, the bolt is connected with a butterfly nut, the nut of the bolt is just embedded in the expanding groove,
through grooves are formed in the surfaces of the screw cap and the secondary mounting plate, when the bolt is inserted into the threaded hole, the screw cap is tightly attached to the enlarged groove, and after the screw cap and the through grooves in the secondary mounting plate are axially aligned, the butterfly-shaped screw cap is screwed down, and the butterfly-shaped edge of the butterfly-shaped screw cap is parallel to the screw rod.
Further, the lower extreme of main support is provided with two connecting plates that the branching form is parallel, and two connecting plates are opened and are all equipped with the connecting hole, be provided with the brace table towards main support one side in the middle of the horizontal stand, there is the perforation in the middle part of the brace table, and the connecting plate symmetry lies in the both sides of brace table, passes the connecting hole and perforates with a bolt to screw up the nut at the bolt end, connect main support and brace table.
Furthermore, the horizontal screw mechanism comprises a motor arranged at the tail end of the horizontal support, a screw rod is connected with an output shaft of the motor, the screw rod and the tail end are inserted into the support table, grooves are formed in the side faces of the two ends of the support table, bearings are installed in the grooves, and the tail end of the screw rod is inserted into the bearings.
Further, horizontal installation seat includes mainboard and auxiliary plate, the mainboard is towards the surface lead screw cover of one side of horizontal stand, the lead screw cover runs through on the lead screw, can be driven the translation by the lead screw, auxiliary plate adsorbs on the mainboard surface, installs detector or camera on the auxiliary plate.
Furthermore, the main plate is provided with a bolt hole, one surface of the bolt hole facing the auxiliary plate is provided with an enlarged groove, a bolt is inserted in the bolt hole, a nut of the bolt is clamped in the enlarged groove, a butterfly nut is screwed at the tail end of the bolt,
the surface of nut and mainboard all sets up logical groove that link up from top to bottom, and when the logical groove axial alignment of logical groove and mainboard of nut, the back is screwed up to the butterfly nut, and the butterfly limit is parallel with the lead screw.
Further, assist a side surface of board orientation mainboard and second grade mounting panel evenly to be provided with a plurality of magnet towards the equal circumference in one-level mounting panel surface, mainboard and one-level mounting panel are the metal material, will assist the board through magnet and adsorb on the mainboard surface, and the second grade mounting panel adsorbs on one-level mounting panel surface.
Further, a motor mounting seat is arranged outside the motor, the horizontal support and the main support are both in a long strip shape, the cross section of each horizontal support and the cross section of each main support are in a rectangular shape, the contact surfaces of the motor mounting seat and the corresponding horizontal support and the corresponding main support are provided with axially through concave notches, and the concave notches are matched and clamped on the corresponding horizontal support and the corresponding main support.
The working principle of the invention is as follows:
according to the invention, corresponding detectors and cameras are arranged on the vertical mounting seat and the two transverse mounting seats according to monitoring requirements, the detectors and the cameras can move along with the welding seam spray gun, the weld seam just formed is always monitored, the quality of the weld seam is monitored in real time, the front part and the rear part of the weld seam can be monitored in real time, and the monitoring area is large.
The invention has the beneficial effects that:
the welding seam spray gun is used for spraying welding flux to realize automatic welding, the detectors and the cameras are arranged above, in front of and behind the welding seam spray gun, welding positions can be obtained in time, first-hand data before and after welding and welding seams can be detected in time, and parameters of the welding seam spray gun and the welding flux can be fed back and adjusted in time according to the quality of the welding seams, so that better welding seams can be welded.
Drawings
Figure 1 is an exploded view of the present invention,
figure 2 is a perspective view of the invention in an assembled state,
figure 3 is an assembled elevational view of the present invention,
in the figure: 1-motor of vertical screw mechanism, 2-lead screw of vertical screw mechanism, 3-butterfly nut, 4-lead screw cover, 5-first grade mounting panel, 6-second grade mounting panel, 7-welder fixing base, 8-lead screw seat, 9-main support, 10-connecting plate, 11-lead screw of horizontal screw mechanism, 12-motor of horizontal screw mechanism, 13-horizontal support, 14-enlarged groove, 15-logical groove, 16-bolt, 17-auxiliary plate, 18-lower spacing dog, 19-welding seam spray gun, 20-adaptor, 21-mainboard, 22-brace table.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The names of the various components are given in the attached figure 1, in order: the welding gun comprises a motor 1 of a vertical screw mechanism, a screw rod 2 of the vertical screw mechanism, a butterfly nut 3, a screw rod sleeve 4, a first-level mounting plate 5, a second-level mounting plate 6, a welding gun fixing seat 7, a screw rod seat 8, a main support 9, a connecting plate 10, a screw rod 11 of a horizontal screw mechanism, a motor 12 of the horizontal screw mechanism, a horizontal support 13, an expansion groove 14, a through groove 15, a bolt 16, an auxiliary plate 17, a lower limiting stop block 18, a welding seam spray gun 19, a connector 20, a main plate 21 and a support table 22.
Referring to fig. 1 to 3, the automatic welding robot and the multi-dimensional detection device thereof of the present invention include a horizontal bracket and a main bracket, both of which are in a strip shape, the lower end of the main bracket is rotatably connected to the middle of the horizontal bracket, the main bracket is usually vertically and obliquely arranged, and the horizontal bracket is parallel to a welding seam to be welded.
The main support is coaxially provided with a vertical screw mechanism, the vertical screw mechanism is provided with a vertical mounting seat, and a detector or a camera is mounted on the vertical mounting seat. The vertical mounting seat is driven by the vertical lead screw mechanism to translate along the main support, the position of the detector or the camera is changed, adjusted and added, and the most appropriate detection or photographing position is adjusted.
And a welding seam spray gun is fixedly arranged on the main support, faces downwards and moves on a path to be welded to complete welding.
Horizontal supports are symmetrically provided with horizontal screw mechanisms along the connecting positions of the horizontal supports and the main support, each horizontal screw mechanism is provided with a horizontal mounting seat, and a detector or a camera is arranged on each horizontal mounting seat. And when the moving direction of the welding spray gun is the radial direction of the horizontal support, detecting or shooting at the left and right of the welding line.
A specific embodiment of the vertical screw mechanism is described in detail below: the vertical screw mechanism comprises a motor arranged at the top of the main support, an output shaft of the motor is connected with a screw rod, the lower end of the screw rod is inserted into a screw rod seat, and the screw rod seat is fixed at the position of the main support close to the lower end.
A welding gun fixing seat is fixedly arranged on the side portion of the main support, an adapter is fixedly arranged on the welding gun fixing seat, and the welding seam spray gun is arranged below the adapter.
The welding gun fixing seat is positioned above the screw rod seat and fixed with the main support, and the screw rod penetrates through the center of the welding gun fixing seat.
One specific embodiment of a vertical mount is described in detail below: the vertical mounting seat comprises a first-level mounting plate and a second-level mounting plate, a screw rod sleeve is fixedly arranged on one side surface of the first-level mounting plate, which faces to a main support, the screw rod penetrates through the screw rod sleeve, and when the screw rod rotates, the screw rod sleeve can be driven to move horizontally along the screw rod.
The second-stage mounting plate is adsorbed on the surface of the first-stage mounting plate, and a detector or a camera is mounted on the second-stage mounting plate. The second grade mounting panel evenly is provided with a plurality ofly (be 4 usually, also can come to establish several more according to the area of second grade mounting panel or the weight of detector, camera) magnet towards first grade mounting panel surface circumference, and the one-level mounting panel is the metal material, adsorbs the one-level mounting panel surface through magnet with the second grade mounting panel.
The secondary mounting plate is communicated with a threaded hole, embedded expanding grooves are formed in the periphery of the threaded hole, the bolt penetrates through the threaded hole to extend to the back face of the main support, the bolt is connected with a butterfly nut, and the nut of the bolt is just embedded in the expanding grooves.
The through grooves are formed in the surfaces of the screw cap and the second-stage mounting plate, when the bolt is inserted into the threaded hole, the screw cap is tightly attached to the enlarged groove, and after the screw cap and the through grooves in the second-stage mounting plate are axially aligned, the butterfly-shaped screw cap is screwed up, and the butterfly-shaped edge of the butterfly-shaped screw cap is parallel to the screw rod.
The connection relation between main support and the auxiliary stand is specifically described below, the lower extreme of main support is provided with two connecting plates that the forked form is parallel, and two connecting plates are opened and are all equipped with the connecting hole, are provided with the brace table towards main support one side in the middle of the horizontal stand, and there is the perforation in the brace table middle part, and the connecting plate symmetry is located the both sides of brace table, passes the connecting hole and perforates with a bolt to screw up the nut at the bolt end, connect main support and brace table.
One specific embodiment of the horizontal screw mechanism is described in detail below: the horizontal screw mechanism comprises a motor arranged at the tail end of the horizontal support, a screw rod is connected with an output shaft of the motor, the screw rod and the tail end are inserted into the support table, grooves are formed in the side faces of the two ends of the support table, bearings are installed in the grooves, and the tail end of the screw rod is inserted into the bearings.
The horizontal installation seat comprises a main board and an auxiliary board, wherein the main board is a screw rod sleeve facing to one side surface of the horizontal support, the screw rod sleeve penetrates through the screw rod and can be driven to translate by the screw rod, the auxiliary board is adsorbed on the surface of the main board, and a detector or a camera is installed on the auxiliary board.
The main board is provided with a bolt hole, one side of the bolt hole facing the auxiliary board is provided with an enlarged groove, a bolt is inserted in the bolt hole, a nut of the bolt is clamped in the enlarged groove, a butterfly nut is screwed at the tail end of the bolt,
the surface of nut and mainboard all sets up logical groove that link up from top to bottom, and when the logical groove axial alignment of logical groove and mainboard of nut, the back is screwed up to the butterfly nut, and the butterfly limit is parallel with the lead screw.
The side surface circumference of assisting the board towards the mainboard evenly is provided with a plurality of magnet, and the mainboard is the metal material, and it will assist the board to adsorb on the mainboard surface through magnet to assist the board.
The embodiment that the motor and the corresponding horizontal bracket and the main bracket are installed is given below, the motor is externally provided with a motor installation seat, the cross section of the motor installation seat is rectangular, the contact surface of the motor installation seat and the corresponding horizontal bracket and the main bracket is provided with a concave-shaped notch which is axially communicated, and the concave-shaped notch is matched and clamped on the corresponding horizontal bracket and the corresponding main bracket.
The connection relationship between one secondary mounting plate and the auxiliary plate and the corresponding detector or camera is described in detail as follows: the lower limiting stop block is arranged on the surface of the second-stage mounting plate and the auxiliary plate close to the bottom, the limiting function of the lower end to the bottom is achieved, a side face, connected with the corresponding second-stage mounting plate and the auxiliary plate, of the detector or the camera is provided with a part clamped in the through groove, the detector or the camera can move along the through groove, the position is changed, and the proper position is adjusted.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides an automatic change welding robot and multidimension detection device thereof which characterized in that: the welding line welding gun type welding line detection device comprises a horizontal support and a main support, wherein a welding line spray gun is arranged on the main support, the lower end of the main support is rotatably connected in the middle of the horizontal support, a vertical screw rod mechanism is coaxially arranged on the main support, a vertical mounting seat is arranged on the vertical screw rod mechanism, a detector or a camera is arranged on the vertical mounting seat, and the vertical mounting seat can move under the driving of a vertical screw rod and drives the detector or the camera on the vertical mounting seat to move synchronously;
the horizontal support is symmetrically provided with horizontal screw mechanisms along the connection part of the horizontal support and the main support, each horizontal screw mechanism is provided with a horizontal mounting seat, a detector or a camera is arranged on each horizontal mounting seat, and the horizontal mounting seats can be driven by the respective horizontal screw mechanisms to move so as to drive the detectors and the cameras on the horizontal mounting seats to synchronously move;
the mounting surfaces of the vertical mounting seat and the horizontal mounting seat are provided with a through groove passing through the center of the vertical mounting seat and the horizontal mounting seat, and the detector or the camera can be mounted at any position of the corresponding through groove.
2. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: the vertical screw mechanism comprises a motor arranged at the top of the main bracket, an output shaft of the motor is connected with a screw rod, the lower end of the screw rod is inserted into a screw rod seat, the screw rod seat is fixed at the position of the main bracket near the lower end,
a welding gun fixing seat is fixedly arranged on the side part of the main support, an adapter is fixed on the welding gun fixing seat, the welding seam spray gun is arranged below the adapter,
the welding gun fixing seat is positioned above the screw rod seat and fixed with the main support, and the screw rod penetrates through the center of the welding gun fixing seat.
3. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: the vertical mounting seat comprises a primary mounting plate and a secondary mounting plate, a screw rod sleeve is fixedly arranged on the primary mounting plate towards one side surface of the main support, the screw rod penetrates through the screw rod sleeve, the screw rod can drive the screw rod sleeve to translate along the screw rod when rotating,
the second grade mounting panel adsorbs on one-level mounting panel surface, installs detector or camera on the second grade mounting panel.
4. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: the secondary mounting plate is provided with a threaded hole in a through manner, the periphery of the threaded hole is provided with an embedded expanding groove, the bolt penetrates through the threaded hole and extends to the back surface of the main bracket, the bolt is connected with a butterfly nut, the nut of the bolt is just embedded in the expanding groove,
through grooves are formed in the surfaces of the screw cap and the secondary mounting plate, when the bolt is inserted into the threaded hole, the screw cap is tightly attached to the enlarged groove, and after the screw cap and the through grooves in the secondary mounting plate are axially aligned, the butterfly-shaped screw cap is screwed down, and the butterfly-shaped edge of the butterfly-shaped screw cap is parallel to the screw rod.
5. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: the lower extreme of main support is provided with two connecting plates that the forked form is parallel, and two connecting plates are opened and are all equipped with the connecting hole, be provided with the brace table towards main support one side in the middle of the horizontal stand, there is the perforation in the middle part of the brace table, and the connecting plate symmetry lies in the both sides of brace table, passes the connecting hole and perforates with a bolt to screw up the nut at the bolt end, connect main support and brace table.
6. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: the horizontal screw mechanism comprises a motor arranged at the tail end of the horizontal support, a screw rod is connected with an output shaft of the motor, the screw rod and the tail end are inserted into the support table, grooves are formed in the side faces of the two ends of the support table, bearings are installed in the grooves, and the tail end of the screw rod is inserted into the bearings.
7. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: horizontal installation seat includes mainboard and supplementary board, the mainboard is towards the surface lead screw cover of one side of horizontal stand, the lead screw cover runs through on the lead screw, can be driven the translation by the lead screw, supplementary board adsorbs on the mainboard surface, installation detector or camera on the supplementary board.
8. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 7, wherein: the main board is provided with a bolt hole, one side of the bolt hole facing the auxiliary board is provided with an enlarged groove, a bolt is inserted in the bolt hole, a nut of the bolt is clamped in the enlarged groove, a butterfly nut is screwed at the tail end of the bolt,
the surface of nut and mainboard all sets up logical groove that link up from top to bottom, and when the logical groove axial alignment of logical groove and mainboard of nut, the back is screwed up to the butterfly nut, and the butterfly limit is parallel with the lead screw.
9. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: the side surface of assisting the board towards the mainboard and the equal circumference in second grade mounting panel surface evenly is provided with a plurality of magnet towards one-level mounting panel, mainboard and one-level mounting panel are the metal material, will assist the board through magnet and adsorb on the mainboard surface, and the second grade mounting panel adsorbs on one-level mounting panel surface.
10. The automated welding robot and the multi-dimensional detecting apparatus thereof according to claim 1, wherein: the motor mounting seat is arranged outside the motor, the horizontal support and the main support are both in a long strip shape, the cross section of the horizontal support and the main support are rectangular, the contact surfaces of the motor mounting seat and the corresponding horizontal support and main support are provided with axially through concave notches, and the concave notches are matched and clamped on the corresponding horizontal support and main support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010474667.0A CN111761274A (en) | 2020-05-29 | 2020-05-29 | Automatic welding robot and multi-dimensional detection device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010474667.0A CN111761274A (en) | 2020-05-29 | 2020-05-29 | Automatic welding robot and multi-dimensional detection device thereof |
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| CN111761274A true CN111761274A (en) | 2020-10-13 |
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| CN202010474667.0A Pending CN111761274A (en) | 2020-05-29 | 2020-05-29 | Automatic welding robot and multi-dimensional detection device thereof |
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| CN208107533U (en) * | 2018-04-09 | 2018-11-16 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of mobile video monitor device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO1989001381A1 (en) * | 1987-08-19 | 1989-02-23 | Fanuc Ltd | Weaving welding with welding robot |
| KR20000045563A (en) * | 1998-12-30 | 2000-07-25 | 권상문 | Method and device for welding of welding material formed with corrugation |
| JP2007237187A (en) * | 2006-03-06 | 2007-09-20 | Nippon Sharyo Seizo Kaisha Ltd | Method and apparatus for temporary soldering of friction stir welding |
| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
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| CN105458462A (en) * | 2015-12-22 | 2016-04-06 | 河北工业大学 | Variable gap trapezoidal welding line multi-parameter synchronous visual inspection tracking method |
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