CN216177443U

CN216177443U - Straight welding seam tracking mechanism

Info

Publication number: CN216177443U
Application number: CN202122499427.9U
Authority: CN
Inventors: 赵喜盛; 任超; 陈春; 宋阳; 孙玉勇
Original assignee: Wuxi Xinsong Robot Automation Co ltd
Current assignee: Wuxi Xinsong Robot Automation Co ltd
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2022-04-05
Anticipated expiration: 2031-10-18

Abstract

The utility model relates to the technical field of laser welding, in particular to a straight weld seam tracking mechanism, which aims to solve the problem that the offline teaching or online teaching in the prior art has various defect limitations and comprises a guide wheel, wherein the guide wheel is provided with an installation block, one side of the installation block, which is opposite to the guide wheel, is provided with a first guide shaft, the first guide shaft is provided with a sliding block which is connected through a linear bearing, one side of the sliding block, which is close to the guide wheel, is rotatably connected with the installation block through a floating joint, one side of the sliding block, which is far away from the guide wheel, is connected with a cylinder for driving the sliding block to move along the length direction of the first guide shaft, the back of the sliding block is provided with a second guide shaft, and the sliding block is connected with a spring for driving the sliding block to move along the length direction of the second guide shaft; and a first displacement sensor is arranged on one side of the second guide shaft, a first measuring plate matched with the first displacement sensor is arranged on the sliding block, a second displacement sensor is arranged on the other side of the second guide shaft, and a second measuring plate matched with the second displacement sensor is arranged on the mounting block.

Description

Straight welding seam tracking mechanism

Technical Field

The utility model relates to the technical field of laser welding, in particular to a straight weld joint tracking mechanism.

Background

In the automatic welding production process, the prior art generally adopts two modes of on-line teaching and off-line teaching, wherein the on-line teaching is a process of giving welding seam position deviation by a sensor, automatically calculating equipment and then controlling a welding gun to correct the deviation, the off-line teaching is to write the running track of the equipment, and the welding gun runs according to the given track. Due to machining errors and assembly errors of workpieces, thermal deformation errors generated in the welding process and the like, the track of a welding seam can be influenced in real time, various errors of a product are required to be controlled within a reasonable range by adopting an off-line teaching method, and otherwise, the welding cannot be carried out. In actual production, the precision of a plurality of products cannot meet offline teaching, and only an online teaching method is adopted, but at present, most of the online teaching sensors adopt linear lasers and visual cameras, and the manufacturing cost of the sensors is generally higher, so that the popularization and the use are greatly limited.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model aims to provide a straight weld joint tracking mechanism, which solves the problem that the prior art adopts off-line teaching or on-line teaching and has various defect limitations.

The technical purpose of the utility model is realized by the following technical scheme:

a straight welding seam tracking mechanism comprises a guide wheel which is tightly abutted to a welding seam, wherein an installation block is arranged on the guide wheel, a first guide shaft which extends along the vertical direction is arranged on one side, opposite to the guide wheel, of the installation block, a sliding block which is connected through a linear bearing is arranged on the first guide shaft, one side, close to the guide wheel, of the sliding block is rotatably connected with the installation block through a floating joint, a cylinder which drives the sliding block to move along the length direction of the first guide shaft is connected to one side, away from the guide wheel, of the sliding block, a second guide shaft which extends along the horizontal direction is arranged on the back of the sliding block, and the sliding block is connected with a spring which drives the sliding block to move along the length direction of the second guide shaft;

and a first displacement sensor is arranged on one side of the second guide shaft, a first measuring plate matched with the first displacement sensor is arranged on the sliding block, a second displacement sensor is arranged on the other side of the second guide shaft, and a second measuring plate matched with the second displacement sensor is arranged on the mounting block.

Optionally, a magnetic switch is arranged at the cylinder.

The utility model has the beneficial effects that:

1. the straight welding seam tracking mechanism adopts two orthogonal XY axes to decompose the change vertical to the welding seam direction into two orthogonal components, outputs related change signals to an upper computer, and the upper computer controls a welding gun through compensation iterative calculation, so that the actual tracking control has the advantages of simple structure, easier control program compiling, direct connection with a welding mechanism, independent installation and lower cost than a common line laser sensor and a vision camera.

2. The straight welding seam tracking mechanism is provided with the magnetic switch and is used for detecting the reset state information of the guide wheel.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of a straight seam tracking mechanism according to an embodiment of the present invention;

FIG. 2 is a front view of a straight seam tracking mechanism of one embodiment of the present invention.

Description of reference numerals:

1. a guide wheel; 2. mounting blocks; 3. a first guide shaft; 4. a first displacement sensor; 5. a cylinder; 6. a spring; 7. a second displacement sensor; 8. a second measuring plate; 9. a floating joint; 10. a linear bearing; 11. a magnetic switch; 12. a second guide shaft; 13. a first measuring plate; 14. and a slider.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

A straight welding seam tracking mechanism comprises a guide wheel 1 tightly abutted to a welding seam, a mounting block 2 is arranged on the guide wheel 1, a first guide shaft 3 extending along the vertical direction is arranged on one side, opposite to the guide wheel 1, of the mounting block 2, a sliding block 14 connected through a linear bearing 10 is arranged on the first guide shaft 3, one side, close to the guide wheel 1, of the sliding block 14 is rotatably connected with the mounting block 2 through a floating joint 9, a cylinder 5 driving the sliding block 14 to move along the length direction of the first guide shaft 3 is connected to one side, away from the guide wheel 1, of the sliding block 14, a second guide shaft 12 extending along the horizontal direction is arranged on the back of the sliding block 14, and the sliding block 14 is connected with a spring 6 driving the sliding block to move along the length direction of the second guide shaft 12; a first displacement sensor 4 is installed on one side of a second guide shaft 12, a first measuring plate 13 matched with the first displacement sensor 4 is installed on a sliding block 14, a second displacement sensor 7 is installed on the other side of the second guide shaft 12, and a second measuring plate 8 matched with the second displacement sensor 7 is installed on an installation block 2. Firstly, the initial state of the air cylinder 5 is a retraction state, the guide wheel 1 is pulled back to a reset state through the floating joint 9 and the guide wheel mounting block 2, and a mechanism of the guide wheel 1, the guide wheel mounting block 2, the first guide shaft 3, the air cylinder 5 and the floating joint 9 is automatically in the reset state under the action of the elastic force of the spring 6; and then the cylinder 5 is controlled to work to extend the piston rod, the guide wheel 1 is driven to be tightly pressed at the welding seam, so that the laser welding device drives the device to move forwards along the direction of the welding seam, in the process, the device precisely guides the guide wheel 1 through the linear bearing 10, the deviation of the welding seam is decomposed into changes in the horizontal direction and the vertical direction, the first displacement sensor 4 and the second displacement sensor 7 are matched with the first measuring plate 13 and the second measuring plate 8 to detect the variable quantity, then position signals are output to an upper computer, and the upper computer calculates related data and controls the welding gun to move to a corresponding welding position. The scheme adopts the orthogonal XY two axes to decompose the change perpendicular to the direction of the welding seam into two orthogonal components, outputs a related change signal to the upper computer, and the upper computer controls the welding gun through compensation iterative calculation, thereby realizing the actual tracking control.

As shown in fig. 1 and 2, a magnetic switch 11 is provided at the cylinder 5 for detecting reset state information of the guide wheel 1.

The working principle of the straight welding seam tracking mechanism is as follows: firstly, the initial state of the air cylinder 5 is a retraction state, the guide wheel 1 is pulled back to a reset state through the floating joint 9 and the guide wheel mounting block 2, and a mechanism of the guide wheel 1, the guide wheel mounting block 2, the first guide shaft 3, the air cylinder 5 and the floating joint 9 is automatically in the reset state under the action of the elastic force of the spring 6; and then the cylinder 5 is controlled to work to extend the piston rod, the guide wheel 1 is driven to be tightly pressed at the welding seam, so that the laser welding device drives the device to move forwards along the direction of the welding seam, in the process, the device precisely guides the guide wheel 1 through the linear bearing 10, the deviation of the welding seam is decomposed into changes in the horizontal direction and the vertical direction, the first displacement sensor 4 and the second displacement sensor 7 are matched with the first measuring plate 13 and the second measuring plate 8 to detect the variable quantity, then position signals are output to an upper computer, and the upper computer calculates related data and controls the welding gun to move to a corresponding welding position.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.

Claims

1. A straight welding seam tracking mechanism is characterized by comprising a guide wheel (1) which is tightly propped against a welding seam, the guiding wheel (1) is provided with an installation block (2), one side of the installation block (2) opposite to the guiding wheel (1) is provided with a first guiding shaft (3) extending along the vertical direction, a sliding block (14) connected through a linear bearing (10) is arranged on the first guide shaft (3), one side of the sliding block (14) close to the guide wheel (1) is rotationally connected with the mounting block (2) through a floating joint (9), one side of the sliding block (14) far away from the guide wheel (1) is connected with a cylinder (5) for driving the sliding block to move along the length direction of the first guide shaft (3), and a second guide shaft (12) extending in the horizontal direction is provided on the back of the slide block (14), the sliding block (14) is connected with a spring (6) for driving the sliding block to move along the length direction of the second guide shaft (12);

second guiding axle (12) one side is equipped with first displacement sensor (4), be equipped with on sliding block (14) with first displacement sensor (4) complex first measure board (13), second guiding axle (12) opposite side is equipped with second displacement sensor (7), be equipped with on installation piece (2) and measure board (8) with second displacement sensor (7) complex second.

2. The straight seam tracking mechanism according to claim 1, characterized in that a magnetic switch (11) is provided at the cylinder (5).