CN114523242A - Intelligent welding manipulator based on big data of thing antithetical couplet - Google Patents
Intelligent welding manipulator based on big data of thing antithetical couplet Download PDFInfo
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- CN114523242A CN114523242A CN202210425992.7A CN202210425992A CN114523242A CN 114523242 A CN114523242 A CN 114523242A CN 202210425992 A CN202210425992 A CN 202210425992A CN 114523242 A CN114523242 A CN 114523242A
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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 discloses an intelligent welding manipulator based on big data of an internet of things, which comprises a welding device and an intelligent welding system, the welding device comprises a base, a conveying mechanism is arranged at the upper end of the base and comprises a mounting seat, the mounting seat is fixedly connected with the left side of the base, one side of the mounting seat is fixedly connected with a motor, the output end of the motor is fixedly connected with a rotating shaft, the excircle of the rotating shaft is fixedly connected with a driving shaft, a fulcrum shaft is fixedly connected to the right side of the base, a right shaft is connected to an excircle bearing of the fulcrum shaft, a crawler belt is arranged between the driving shaft and the right shaft, a plurality of groups of material seats are uniformly arranged at the upper end of the crawler belt, discharge holes are arranged in the middle of the material seats, the surface of the crawler belt is provided with a plurality of groups of through holes, and the through holes correspond to the discharging holes one by one.
Description
Technical Field
The invention is applied to an intelligent welding background and is named as an intelligent welding manipulator based on big data of an internet of things.
Background
The welding technology, also called joining engineering, is an important material processing technology, and the welding definition is as follows: the welding of complex single-piece workpieces can only be completed manually, and for simple repeated welding, intelligent welding with participation of a manipulator is more beneficial to improving the production efficiency.
However, the existing intelligent welding is generally uniform time welding and cannot be intelligently adjusted according to actual conditions.
Disclosure of Invention
The invention aims to provide an intelligent welding manipulator based on big data of an internet of things, which aims to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: an intelligent welding manipulator based on big data of an internet of things comprises a welding device and an intelligent welding system, wherein the welding device comprises a base, a conveying mechanism is arranged at the upper end of the base and comprises an installation seat, the installation seat is fixedly connected with the left side of the base, a motor is fixedly connected to one side of the installation seat, a rotating shaft is fixedly connected to the output end of the motor, a driving shaft is fixedly connected to the excircle of the rotating shaft, a fulcrum shaft is fixedly connected to the right side of the base, the excircle bearing of the fulcrum shaft is connected with a right shaft, a crawler belt is arranged between the driving shaft and the right shaft, a plurality of groups of material seats are uniformly arranged at the upper end of the crawler belt, discharge holes are formed in the middles of the material seats, a plurality of groups of through holes are formed in the surface of the crawler belt, the plurality of groups of through holes correspond to the discharge holes one to one, and temperature sensors are arranged in the discharge holes, the temperature sensor is in contact with the bottom of the workpiece.
In one embodiment, the welding device comprises an injection mechanism, the injection mechanism is located right above the right side of the conveying mechanism, the injection mechanism comprises a material box, the material box is fixedly connected with the base, a material pipe is connected to a pipeline right in front of the material box, an outlet of the material pipe is located right above the material seat, a valve is arranged on the pipeline of the material pipe, and a camera is arranged right in front of the material box.
In one embodiment, the welding device comprises a welding mechanism, the welding mechanism is located right above the middle of the conveying mechanism, the welding mechanism comprises a back plate, a mounting hole is formed in the upper end of the back plate, a fixing shaft is fixedly connected to the inside of the mounting hole, a driven shaft is connected to an outer cylindrical bearing of the fixing shaft, a belt is arranged between the driven shaft and the driving shaft, a disc is fixedly connected to the outer circumference of the driven shaft, a pin shaft is fixedly connected to the outer end face of the disc, a fixing seat is fixedly connected to the right front of the back plate, a sliding groove is formed in the front end of the fixing seat, a sliding block is connected to the inside of the sliding groove in a sliding mode, a circular groove is formed in the upper end of the sliding block and is connected with the pin shaft in a matched mode, and a welding gun is fixedly connected to the lower portion of the sliding block.
In one embodiment, the intelligent welding system comprises an intelligent control module, an intelligent detection module and an intelligent operation module, wherein the intelligent control module, the intelligent detection module and the intelligent operation module are respectively electrically connected;
the intelligent control module comprises a data recording module, a data operation module, a logic judgment module and a time control module, the intelligent detection module comprises a temperature detection module and an image acquisition module, and the intelligent operation module comprises a material transmission module, a material spraying module, a speed adjustment module and a welding module;
the temperature detection module is electrically connected with the temperature sensor, the image acquisition module is electrically connected with the camera, the material transmission module is electrically connected with the motor, the material spraying module is electrically connected with the valve, the speed adjustment module is electrically connected with the motor, and the welding module is electrically connected with the welding gun.
In one embodiment, the operation of the intelligent welding system comprises the steps of:
s1, starting the intelligent welding system after the workpiece is placed, and conveying the workpiece from right to left at a certain rhythm under the drive of the material conveying module;
s2, acquiring position information of the workpiece by using a camera, and determining an initial production beat according to the material injection time;
s3, welding the workpiece by using a welding gun, acquiring temperature information of the workpiece by using a temperature detection module, and adjusting the production rhythm in real time;
and S4, repeating S2-S3, and completing the welding work of all the workpieces.
Compared with the prior art, the invention has the following beneficial effects: according to the welding mechanism, under the driving of the conveying mechanism, workpieces to be welded are conveyed from right to left, filling materials are sprayed to uniform positions on the workpieces through the material injection mechanism and are welded at the welding mechanism at the next station, in the welding process, the speed of the conveying mechanism is intelligently adjusted through the adjusting mechanism according to the temperature change of the workpieces, the effects of high conveying speed at high temperature and low conveying speed at low temperature are achieved, and meanwhile the purpose of adjusting the welding time of the welding mechanism according to the temperature is achieved.
Drawings
The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.
In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded schematic view of the present invention;
FIG. 3 is a schematic view of the partial structure at A of the present invention;
FIG. 4 is a schematic diagram of the interrelationship of the modules of the present invention;
in the figure: 1. a base; 2. a mounting seat; 3. a motor; 4. a drive shaft; 5. a fulcrum; 6. a right shaft; 7. a crawler belt; 8. a back plate; 9. a material box; 10. a material pipe; 11. a camera; 12. a material seat; 13. a rotating shaft; 14. a through hole; 15. mounting holes; 16. a fixed seat; 17. a fixed shaft; 18. a belt; 19. a driven shaft; 20. a disc; 21. a slider; 22. a circular groove; 23. a pin shaft; 24. a welding gun; 36. a discharge hole; 37. a valve; 38. a chute.
Detailed Description
The following disclosure provides many different embodiments or examples for implementing different features of the application. To simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.
Referring to fig. 1-4, the present invention provides the following technical solutions: an intelligent welding manipulator based on big data of an internet of things comprises a welding device and an intelligent welding system, wherein the welding device comprises a base 1, a conveying mechanism is arranged at the upper end of the base 1, the conveying mechanism comprises a mounting seat 2, the mounting seat 2 is fixedly connected with the left side of the base 1, a motor 3 is fixedly connected to one side of the mounting seat 2, a rotating shaft 13 is fixedly connected to the output end of the motor 3, a driving shaft 4 is fixedly connected to the excircle of the rotating shaft 13, a fulcrum shaft 5 is fixedly connected to the right side of the base 1, the excircle bearing of the fulcrum shaft 5 is connected with a right shaft 6, a crawler 7 is arranged between the driving shaft 4 and the right shaft 6, a plurality of groups of material seats 12 are uniformly arranged at the upper end of the crawler 7, discharge holes 36 are respectively arranged in the middles of the plurality of the groups of material seats 12, a plurality of groups of through holes 14 are arranged on the surface of the crawler 7, the plurality of groups of through holes 14 correspond to the discharge holes 36 one to one, and a temperature sensor is arranged in the discharge holes 36, the temperature sensor is contacted with the bottom of the workpiece;
a workpiece to be welded is placed in the discharge hole 36, the rotating shaft 13 starts to rotate under the driving of the motor 3, and the driving shaft 4 is driven to start to rotate, so that the crawler belt 7 is driven to start to move from right to left, and the material seat 12 fixed on the crawler belt 7 moves from right to left together, so that the conveying of the workpiece is completed;
the welding device comprises a material injection mechanism, the material injection mechanism is positioned right above the right side of the mechanism, the material injection mechanism comprises a material box 9, the material box 9 is fixedly connected with the base 1, a pipeline right in front of the material box 9 is connected with a material pipe 10, an outlet of the material pipe 10 is positioned right above a material seat 12, a valve 37 is arranged on the pipeline of the material pipe 10, and a camera 11 is arranged right in front of the material box 9;
when the workpiece moves to the position right below the material pipe 10, the camera 11 acquires an image of the workpiece and transmits a signal to the valve 37, so that the valve 37 controls the material pipe 10 to be opened and begin to discharge, and the valve 37 is closed in a delayed manner, so that the filling material is accurately and unmistakably sprayed to the position to be welded;
the welding device comprises a welding mechanism, the welding mechanism is located right above the middle of the conveying mechanism, the welding mechanism comprises a back plate 8, an installation hole 15 is formed in the upper end of the back plate 8, a fixing shaft 17 is fixedly connected inside the installation hole 15, an outer circle bearing of the fixing shaft 17 is connected with a driven shaft 19, a belt 18 is arranged between the driven shaft 19 and a driving shaft 4, a disc 20 is fixedly connected to the outer circle of the driven shaft 19, a pin shaft 23 is fixedly connected to the outer end face of the disc 20, a fixing seat 16 is fixedly connected to the right front side of the back plate 8, a sliding groove 38 is formed in the front end of the fixing seat 16, a sliding block 21 is slidably connected to the inside of the sliding groove 38, a circular groove 22 is formed in the upper end of the sliding block 21, the circular groove 22 is connected with the pin shaft 23 in a matched mode, and a welding gun 24 is fixedly connected to the lower portion of the sliding block 21;
the driven shaft 19 is driven to rotate through the belt 18 along with the rotation of the driving shaft 4, so that the disc 20 is driven to rotate together, the sliding block 21 is driven by the pin shaft 23 to reciprocate up and down in the sliding groove 38 along with the rotation of the disc 20, the sliding block 21 stays at the lowest end for a period of time during reciprocating motion due to the existence of the circular groove 22, and at the moment, the workpiece is heated and pressurized by the welding gun 24 fixed at the lower end of the sliding block 21 for welding, because the workpiece conveying speed is slow, and meanwhile, the conveying beat is matched with the time of the sliding block 21 at the lowest end, so that the purpose of fully welding the workpiece is achieved;
the intelligent welding system comprises an intelligent control module, an intelligent detection module and an intelligent operation module, wherein the intelligent control module, the intelligent detection module and the intelligent operation module are respectively and electrically connected;
the intelligent control module comprises a data recording module, a data operation module, a logic judgment module and a time control module, the intelligent detection module comprises a temperature detection module and an image acquisition module, and the intelligent operation module comprises a material transmission module, a material spraying module, a speed adjustment module and a welding module;
the temperature detection module is electrically connected with the temperature sensor, the image acquisition module is electrically connected with the camera 11, the material transmission module is electrically connected with the motor 3, the material spraying module is electrically connected with the valve 37, the speed adjustment module is electrically connected with the motor 3, and the welding module is electrically connected with the welding gun 24;
the welding system comprises a data recording module, a logic judgment module, a time control module, a temperature detection module, an image acquisition module, a material transmission module, a material spraying module, a speed adjusting module and a welding module, wherein the data recording module is used for recording various data acquired in real time and comprises a preset value of an intelligent welding system, the data operation module is used for calculating the recorded data, the logic judgment module is used for analyzing and judging a calculation result and determining a welding strategy, the time control module is used for determining welding time and a detection period, the temperature detection module is used for acquiring temperature information of a workpiece during welding, the image acquisition module is used for acquiring position information of the workpiece, the material transmission module is used for controlling transmission of the workpiece, the material spraying module is used for spraying filling materials, the speed adjusting module is used for adjusting the transmission speed of the workpiece according to actual conditions, and the welding module is used for welding the workpiece;
the operation of the intelligent welding system comprises the following steps:
s1, starting the intelligent welding system after the workpieces are placed, and conveying the workpieces from right to left at a certain rhythm under the drive of the material conveying module;
s2, acquiring position information of the workpiece by using the camera 11, and determining an initial production rhythm according to the material injection time;
s3, welding the workpiece by using the welding gun 24, acquiring the temperature information of the workpiece by using the temperature detection module, and adjusting the production rhythm in real time;
s4, repeating S2-S3 to complete the welding work of all the workpieces;
the method of determining the initial tact in S2 is as follows:
the material conveying module conveys the workpiece at a high speed, when the camera 11 collects the workpiece, the speed is reduced and kept constant, meanwhile, the valve 37 is opened and sprays the filling material, and when the camera 11 does not contain the workpiece, the spraying is stopped;
setting the initial production period to
The value is determined by the following formula:
wherein
Is the distance between the two workpieces,
in order to obtain the length of the weld that needs to be welded,
is the initial transport speed of the workpiece,
is the speed at which the filling material is sprayed;
the adjustment rule of the tact in S3 is as follows:
the driving shaft 4 rotates for one circle to just move one station, the driving shaft 4 drives the welding gun 24 to move up and down through the belt 18 and the driven shaft 19 and the disc 20, the staying time of the welding gun 24 at the bottom is matched with the workpiece transmission, it is guaranteed that the welding gun 24 can weld the workpiece when the workpiece sprayed with the auxiliary materials enters a welding process, the welding is carried out according to an initial production period in an initial stage, and after the welding is finished, the production period needs to be adjusted according to the detected overhigh or overlow temperature;
setting the period of the adjustment to
The value is determined by the following formula:
wherein
The temperature actually collected at the welding position after the welding is finished,
is a standard weldingThe temperature is the value that when the workpiece enters the next station after welding is finished, the temperature of the workpiece is just reduced to the room temperature,
the external temperature coefficient is determined by the following formula:
wherein
，
Is the actual indoor temperature, and because the temperature of the welding place is high, the value is larger than
；
The flow rate of the valve 37 is set as follows:
because of the fact that
The speed of the valve 37 is kept constant, the moving speed is changed during welding, and the flow of the valve 37 is required to be controlled during welding temperature change;
setting the real-time flow as
The value is determined by the following formula:
wherein
In the initial state, the valve 37 sprays the flow.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; may be directly connected, may be internal to the two elements or may be in an interactive relationship with the two elements. The above terms are understood in the present application by those of ordinary skill in the art as appropriate.
The above detailed description is provided for a cleaning device provided in the embodiments of the present application, and the principle and the implementation of the present application are explained in the present application by applying specific examples, and the description of the above embodiments is only used to help understanding the technical solution and the core idea of the present application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.
Claims (8)
1. The utility model provides an intelligent welding machines hand based on thing allies oneself with big data, contains welding set and intelligent welding system, its characterized in that: the welding device comprises a base (1), a conveying mechanism is arranged at the upper end of the base (1), the conveying mechanism comprises a mounting seat (2), the mounting seat (2) is fixedly connected with the left side of the base (1), a motor (3) is fixedly connected to one side of the mounting seat (2), a rotating shaft (13) is fixedly connected to the output end of the motor (3), a driving shaft (4) is fixedly connected to the outer circle of the rotating shaft (13), a fulcrum shaft (5) is fixedly connected to the right side of the base (1), an outer circle bearing of the fulcrum shaft (5) is connected with a right shaft (6), a crawler (7) is arranged between the driving shaft (4) and the right shaft (6), multiple groups of material seats (12) are uniformly arranged at the upper end of the crawler (7), discharging holes (36) are formed in the middles of the multiple groups of the material seats (12), multiple groups of through holes (14) are formed in the surface of the crawler (7), the multiple groups of through holes (14) are in one-to-one correspondence with the discharge holes (36), temperature sensors are arranged inside the discharge holes (36), and the temperature sensors are in contact with the bottoms of the workpieces.
2. The intelligent welding manipulator based on the big data of the internet of things as claimed in claim 1, wherein: welding set is including annotating the material mechanism, annotate and expect that the mechanism is located conveying mechanism's right side directly over, it includes workbin (9) to annotate the material mechanism, workbin (9) and base (1) fixed connection, the pipeline connection in the dead ahead of workbin (9) has material pipe (10), the export of material pipe (10) is located material seat (12) directly over, be provided with valve (37) on the pipeline of material pipe (10), the dead ahead of workbin (9) is provided with camera (11).
3. The intelligent welding manipulator based on the big data of the internet of things as claimed in claim 2, wherein: the welding device comprises a welding mechanism, the welding mechanism is located right above the middle of the conveying mechanism, the welding mechanism comprises a back plate (8), a mounting hole (15) is formed in the upper end of the back plate (8), a fixing shaft (17) is fixedly connected to the inside of the mounting hole (15), an excircle bearing of the fixing shaft (17) is connected with a driven shaft (19), a belt (18) is arranged between the driven shaft (19) and a driving shaft (4), a disc (20) is fixedly connected to the excircle of the driven shaft (19), a pin shaft (23) is fixedly connected to the outer end face of the disc (20), a fixing seat (16) is fixedly connected to the right front of the back plate (8), a sliding groove (38) is formed in the front end of the fixing seat (16), a sliding block (21) is slidably connected to the inside of the sliding groove (38), and a circular groove (22) is formed in the upper end of the sliding block (21), the circular groove (22) is connected with the pin shaft (23) in a matched mode, and a welding gun (24) is fixedly connected to the lower portion of the sliding block (21).
4. The intelligent welding manipulator based on the big data of the internet of things as claimed in claim 3, wherein: the intelligent welding system comprises an intelligent control module, an intelligent detection module and an intelligent operation module, wherein the intelligent control module, the intelligent detection module and the intelligent operation module are respectively and electrically connected;
the intelligent control module comprises a data recording module, a data operation module, a logic judgment module and a time control module, the intelligent detection module comprises a temperature detection module and an image acquisition module, and the intelligent operation module comprises a material transmission module, a material spraying module, a speed adjustment module and a welding module;
the temperature detection module is electrically connected with the temperature sensor, the image acquisition module is electrically connected with the camera (11), the material transmission module is electrically connected with the motor (3), the material spraying module is electrically connected with the valve (37), the speed adjustment module is electrically connected with the motor (3), and the welding module is electrically connected with the welding gun (24).
5. The intelligent welding manipulator based on the big data of the internet of things as claimed in claim 4, wherein: the operation of the intelligent welding system comprises the following steps:
s1, starting the intelligent welding system after the workpieces are placed, and conveying the workpieces from right to left at a certain rhythm under the drive of the material conveying module;
s2, acquiring position information of the workpiece by using the camera (11), and determining an initial production rhythm according to the material injection time;
s3, welding the workpiece by using a welding gun (24), acquiring temperature information of the workpiece by using a temperature detection module, and adjusting the production rhythm in real time;
and S4, repeating S2-S3, and completing the welding work of all the workpieces.
6. The intelligent welding manipulator based on the big data of the internet of things as claimed in claim 5, wherein: the method for determining the initial tact time in S2 is as follows:
setting the initial production period to
The value is determined by the following formula:
wherein
Is the distance between the two workpieces,
in order to obtain the length of the weld that needs to be welded,
is the initial transport speed of the workpiece,
the speed at which the filling material is sprayed.
7. The intelligent welding manipulator based on the big data of the internet of things as claimed in claim 6, wherein: the adjustment rule of the tact in S3 is as follows:
setting the period of the adjustment to
The value is determined by the following formula:
wherein
The temperature actually collected at the welding position after the welding is finished,
is the standard welding temperature, the value of the standard welding temperature is that the temperature of the workpiece is just reduced to the room temperature when the workpiece enters the next station after the welding is finished,
the external temperature coefficient is determined by the following formula:
wherein
，
Is the actual indoor temperature, and because the temperature of the welding place is high, the value is larger than
。
8. The intelligent welding manipulator based on the big data of the internet of things as claimed in claim 6, wherein: the flow rate of the valve (37) is set as follows:
setting the real-time flow as
The value is determined by the following formula:
wherein
In the initial state, the state of the device is as follows,the flow rate of the spray is controlled by a valve (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210425992.7A CN114523242A (en) | 2022-04-22 | 2022-04-22 | Intelligent welding manipulator based on big data of thing antithetical couplet |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210425992.7A CN114523242A (en) | 2022-04-22 | 2022-04-22 | Intelligent welding manipulator based on big data of thing antithetical couplet |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026369A (en) * | 2022-08-09 | 2022-09-09 | 苏州米洛微纳电子科技有限公司 | Continuous welding device for elements for processing inertial sensor |
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