CN206925430U - The arc welding robot of creeping of sensor guiding - Google Patents
The arc welding robot of creeping of sensor guiding Download PDFInfo
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- CN206925430U CN206925430U CN201720450505.7U CN201720450505U CN206925430U CN 206925430 U CN206925430 U CN 206925430U CN 201720450505 U CN201720450505 U CN 201720450505U CN 206925430 U CN206925430 U CN 206925430U
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- arc welding
- welding robot
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- 238000003466 welding Methods 0.000 title claims abstract description 71
- 238000003384 imaging method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
It the utility model is related to a kind of arc welding robot of creeping of sensor guiding, including walking dolly and mechanical arm, walking dolly includes car body, the bottom of car body is provided with by motor-driven wheel, mechanical arm includes being arranged at the lifting joint of car body surface and is arranged at the telescopic joint of lifting joint output end, the output end of telescopic joint is provided with welding gun, and cradle head is provided with welding gun, and the output end of cradle head is provided with weld seam tracking sensor.The arc welding robot of creeping of sensor guiding of the present utility model can be tracked and weld to weld seam without track.
Description
Technical field
It the utility model is related to a kind of welder, more particularly to a kind of arc welding robot of creeping of sensor guiding.
Background technology
Existing welding tractor is so that its flexibility is strong, good economy performance and extensive use.But due to being guided using track, base
Originally it is to be applied to simple long straight weld, girth joint, it is difficult to break away from track and be used for wider scene.
In view of it is above-mentioned the defects of, the design people, be actively subject to research and innovation, to found a kind of sensing of new structure
The arc welding robot of creeping of device guiding.
Utility model content
In order to solve the above technical problems, the purpose of this utility model be to provide it is a kind of without track weld seam can be carried out with
Track and the arc welding robot of creeping for the sensor guiding welded.
The arc welding robot of creeping of sensor guiding of the present utility model, including walking dolly and mechanical arm, the walking
Dolly includes car body, and the bottom of car body is provided with by motor-driven wheel, and the mechanical arm includes being arranged at car body surface
Lifting joint and the telescopic joint for being arranged at lifting joint output end, the output end of the telescopic joint is provided with welding gun, described
Cradle head is provided with welding gun, the output end of the cradle head is provided with weld seam tracking sensor.
Further, the arc welding robot of creeping of sensor guiding of the present utility model, the weld seam tracking sensor
Number is two, and two weld seam tracking sensors are arranged at the front and rear sides of welding gun.
Further, the arc welding robot of creeping of sensor guiding of the present utility model, the welding gun and weld joint tracking pass
Sensor is rotatably arranged in the output end of telescopic joint in perpendicular.
Further, the arc welding robot of creeping of sensor guiding of the present utility model, the weld seam tracking sensor bag
Include the generating laser being arranged on cradle head, the first image acquiring sensor coordinated with the generating laser and be used for
The second image acquiring sensor of gray level image is gathered, the main shaft of the generating laser and the first image acquiring sensor are imaged
There is 20 degree of angle, the generating laser, the first image acquiring sensor and the second IMAQ between the main shaft of system
Sensor is connected with host computer respectively.
Further, the arc welding robot of creeping of sensor guiding of the present utility model, the second IMAQ sensing
Device is between the first image acquiring sensor and generating laser.
Further, the arc welding robot of creeping of sensor guiding of the present utility model, the welding point of the welding gun are located at
In the bisector planes of two axis wheel lines.
Further, the arc welding robot of creeping of sensor guiding of the present utility model, the mechanical arm include vertical side
To with two frees degree of horizontal direction.
By such scheme, the utility model at least has advantages below：Sensor guiding of the present utility model is creeped
Arc welding robot, as a result of weld seam tracking sensor, the weld seam position that can be detected so as to it by weld seam tracking sensor
Put and altitude information, and adjust the position of welding gun in time by mechanical arm and walking dolly, butt welding seam can be achieved without guide rail
Accurate welding.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.
Brief description of the drawings
Fig. 1 is the top view of the arc welding robot of creeping of the sensor of embodiment one guiding；
Fig. 2 is the front view of the arc welding robot of creeping of the sensor of embodiment one guiding；
Fig. 3 is the left view of the arc welding robot of creeping of the sensor of embodiment one guiding；
Fig. 4 is the top view of the arc welding robot of creeping of the sensor guiding of embodiment two；
Fig. 5 is the left view of the arc welding robot of creeping of the sensor guiding of embodiment three；
Fig. 6 is the structural representation of weld seam tracking sensor.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to the scope of the utility model.
Embodiment one：
The welding tractor of rail-free generally requires the good weldering that could be realized using weld seam tracking sensor guiding to weld seam
Connect.It is this utility model on the basis of welding tractor concept, less freedom can be added with the moving cell of adjustment direction by providing
Mechanical arm is spent, and the arc welding robot scheme of creeping that the sensor for coordinating weld seam tracking sensor to use guides.
As Figure 1-3,1 is walking dolly to its structure, and 2 be mechanical arm, wherein 201 be lifting joint, 202 be realization
The telescopic joint of horizontal adjustment, 203 detect the revolute joint in direction for adjustment weld seam tracking sensor, when running into weld seam turning position
It when putting, can be pre-adjusted before walking dolly 1 is not yet turned, weld seam tracking sensor 4 is always positioned at monitoring weldering
The position of seam and be unlikely to lose target.As shown in figure 1,3 be welding gun, 4 be weld seam tracking sensor.Wheel in walking dolly
Son can use the mechanisms such as differential or directive wheel to realize that the overall of robot turns to.
The arc welding robot use of creeping of the sensor guiding of the present embodiment can detect the weld seam of weld penetration information with
Track sensor, before the welding gun at a certain distance from, the position of weld seam can be perceived in advance before welding gun arrival.According to inspection
The actual welds position measured, adjust the horizontal level of welding gun and the height of welding gun.
In welding process, because weld seam tracking sensor always observes one section i.e. by the weld seam of welding in advance, according to
Robotics principle, the locus of the weld seam can be calculated, as long as walking dolly occurs without skid with road surface
Phenomenon, you can by adjusting walking dolly and mechanical arm, realize that welding gun does not depart from the physical location of weld seam.
When welding gun reaches turning, if radius of turn is smaller, it is difficult to controlled by wheel speed and keep speed of welding, may
The speed of welding gun have to be lower than preferable speed of welding, in order to ensure the welding wire melted at welding point is not accumulated excessively, still
It can be achieved the goal by reducing the measure of welding arc thermal output.At this moment need to be known a priori by the sectional area of weld seam, or
Person's sensor is capable of detecting when the sectional area of weld seam, is used for control deposition rate.
The weld seam tracking sensor of the arc welding robot of creeping of the sensor guiding of the present embodiment is illustrated in figure 6, it is sent out
Go out the generating laser 5 of beam of laser, laser beam fan is projected and the surface shape of workpiece 6 where weld seam by sweep mechanism
Into series of points shaped laser spot, it is arranged on the transversal of a weld seam, the transversal is approximately perpendicular to weld seam.The laser beam of scanning
Coordinate with the first image acquiring sensor 7, form laser vision, detect the surface topography of weld seam, and then detect weld seam
Height and position and horizontal position information.Second image acquiring sensor 8 then independently shoots the 2D gray level images of weld seam, to the figure
As analyzing and processing, it is only capable of obtaining the horizontal position information of weld seam, and the height position information of weld seam can not be obtained.Melted by information
Conjunction technology, the weld seam horizontal position information synthesis that two different approaches obtain is turned into more accurate, more reliable weld seam horizontal position
Confidence is ceased, and foundation is provided for the TRAJECTORY CONTROL of welding gun.
Furthermore, it is possible to increase reflective mirror in the way that laser beam advances, realize and fold light path, reduce overall dimensions.Especially
Ground, use can make the reflective mirror of minute angle vibration, and the deflection angle of laser beam is also to be supervised when gathering image information
Control, so that it may so that laser beam can scan between each hot spot, reach all standing of the hot spot to detection section.Employ one side
The reflective mirror of minute angle vibration is made, between the side-to-side vibrations limit, corresponding hot spot can be with the complete of inswept two neighboring hot spot
Portion's line segment, as long as that is, hot spot scanning displacement be more than two neighboring hot spot between ultimate range.Thus may be used
Fine test point hot spot can be equally obtained to reduce the quantity of generating laser.
Embodiment two：
During due to not using guide rail, the path accuracy that walking dolly is realized in some cases may decrease, and may be used also
To increase a sensor at the rear portion of welding gun, as shown in figure 4, more information are improved for welding gun TRAJECTORY CONTROL, to improve
TRAJECTORY CONTROL precision.
If walking dolly can be in welding process with opposite direction in above-mentioned various situations, equivalent to by machinery
Arm is changed as right arm type working method, conveniently adapts to usage scenario.In the case of using single weld seam tracking sensor, only
Sensor need to be turned 360 ° by revolute joint 203.
Embodiment three：
In addition, welding gun and weld seam tracking sensor can also change an angle around trunnion axis, to complete angle welding
Task, as shown in Figure 5.
It the above is only preferred embodiment of the present utility model, be not limited to the utility model, it is noted that for
For those skilled in the art, on the premise of the utility model technical principle is not departed from, if can also make
Dry improvement and modification, these improvement and modification also should be regarded as the scope of protection of the utility model.
Claims (7)
- A kind of 1. arc welding robot of creeping of sensor guiding, it is characterised in that：Including walking dolly and mechanical arm, the walking Dolly includes car body, and the bottom of car body is provided with by motor-driven wheel, and the mechanical arm includes being arranged at car body surface Lifting joint and the telescopic joint for being arranged at lifting joint output end, the output end of the telescopic joint is provided with welding gun, described Cradle head is provided with welding gun, the output end of the cradle head is provided with weld seam tracking sensor.
- 2. the arc welding robot of creeping of sensor guiding according to claim 1, it is characterised in that：The weld joint tracking passes The number of sensor is two, and two weld seam tracking sensors are arranged at the front and rear sides of welding gun.
- 3. the arc welding robot of creeping of sensor guiding according to claim 1, it is characterised in that：The welding gun and weld seam Tracking transducer is rotatably arranged in the output end of telescopic joint in perpendicular.
- 4. the arc welding robot of creeping of sensor guiding according to claim 3, it is characterised in that：The weld joint tracking passes Sensor includes the generating laser being arranged on cradle head, the first image acquiring sensor coordinated with the generating laser With the second image acquiring sensor for gathering gray level image, the main shaft of the generating laser and the first IMAQ sense There is 20 degree of angle, the generating laser, the first image acquiring sensor and the second figure between the main shaft of device imaging system As collection sensor is connected with host computer respectively.
- 5. the arc welding robot of creeping of sensor guiding according to claim 4, it is characterised in that：Second image is adopted Collect sensor between the first image acquiring sensor and generating laser.
- 6. the arc welding robot of creeping of sensor guiding according to claim 1, it is characterised in that：The welding of the welding gun Point is in the bisector planes of two axis wheel lines.
- 7. the arc welding robot of creeping of sensor guiding according to claim 1, it is characterised in that：The mechanical arm includes Vertically and horizontally two frees degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720450505.7U CN206925430U (en) | 2017-04-26 | 2017-04-26 | The arc welding robot of creeping of sensor guiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720450505.7U CN206925430U (en) | 2017-04-26 | 2017-04-26 | The arc welding robot of creeping of sensor guiding |
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| Publication Number | Publication Date |
|---|---|
| CN206925430U true CN206925430U (en) | 2018-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720450505.7U Expired - Fee Related CN206925430U (en) | 2017-04-26 | 2017-04-26 | The arc welding robot of creeping of sensor guiding |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623102A (en) * | 2018-12-18 | 2019-04-16 | 北京季融网络科技有限公司 | A kind of arc welding robot of creeping of sensor guidance |
| CN110125544A (en) * | 2019-06-20 | 2019-08-16 | 广东利元亨智能装备股份有限公司 | Laser welding control method, device and system and electronic equipment |
| CN110510022A (en) * | 2019-08-05 | 2019-11-29 | 湖南沄耀中创科技有限公司 | A kind of blower fan tower barrel flaw detection climbing robot |
| CN110871311A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and production method and device thereof |
| CN110871315A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and safety detection method and device thereof |
| CN110871317A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and warning method and device thereof |
| CN113798748A (en) * | 2021-10-22 | 2021-12-17 | 大连中远海运川崎船舶工程有限公司 | Welding path follow-up adjusting device |
-
2017
- 2017-04-26 CN CN201720450505.7U patent/CN206925430U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871311A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and production method and device thereof |
| CN110871315A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and safety detection method and device thereof |
| CN110871317A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and warning method and device thereof |
| CN109623102A (en) * | 2018-12-18 | 2019-04-16 | 北京季融网络科技有限公司 | A kind of arc welding robot of creeping of sensor guidance |
| CN110125544A (en) * | 2019-06-20 | 2019-08-16 | 广东利元亨智能装备股份有限公司 | Laser welding control method, device and system and electronic equipment |
| WO2020253130A1 (en) * | 2019-06-20 | 2020-12-24 | 广东利元亨智能装备股份有限公司 | Laser welding control method, apparatus, and system and electronic device |
| CN110510022A (en) * | 2019-08-05 | 2019-11-29 | 湖南沄耀中创科技有限公司 | A kind of blower fan tower barrel flaw detection climbing robot |
| CN113798748A (en) * | 2021-10-22 | 2021-12-17 | 大连中远海运川崎船舶工程有限公司 | Welding path follow-up adjusting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lv Weixin Inventor after: Hai Dong Shi Inventor after: Song Runda Inventor after: Wang Lei Inventor after: Zhang Xiangfeng Inventor before: Zhang Xiangfeng |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180126 |