CN109014672A - A kind of right angle welding seam track bi-directional tracking device and its tracking - Google Patents
A kind of right angle welding seam track bi-directional tracking device and its tracking Download PDFInfo
- Publication number
- CN109014672A CN109014672A CN201810836527.6A CN201810836527A CN109014672A CN 109014672 A CN109014672 A CN 109014672A CN 201810836527 A CN201810836527 A CN 201810836527A CN 109014672 A CN109014672 A CN 109014672A
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- horizontal
- idler wheel
- weldment
- slide block
- upright slide
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- 238000003466 welding Methods 0.000 title claims abstract description 56
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 30
- 239000010959 steel Substances 0.000 claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 abstract description 3
- 238000013178 mathematical model Methods 0.000 abstract description 3
- 230000001788 irregular Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 229910000679 solder Inorganic materials 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of right angle welding seam track bi-directional tracking device and its trackings, the technical issues of solution is influence of the weldment due to factors such as form error, welding deformations for forming fillet weld, fillet weld shape can occur bending and deformation, and irregular, the difficult prediction of deformation, it is difficult to be expressed with mathematical model.Horizontal slider of the present invention is arranged on transverse slat, and horizontal slide rail is equipped between fixed plate and horizontal slider, horizontal spring, right side and straight line idler wheel is equipped on the left of horizontal slider and connects；Upright slide block is arranged on the left of riser, and upright slide rail is equipped between riser and upright slide block, and uprighting spring is equipped with above upright slide block, and vertical bar is equipped with below upright slide block, and vertical bar lower end is equipped with steel ball idler wheel, is equipped with electrode holder on the right side of vertical bar.The present invention realizes the bidirectional profile modeling tracking of two vertical direction, and structure is simple, and precision is higher；It is cheap；Track that non-delay, real-time is good；Strong antijamming capability can adapt to more severe welding condition.
Description
Technical field
The present invention relates to automatic welding fields, and in particular to a kind of metal right angle welding seam track tracing device and its track side
Method.
Background technique
Right angle welding seam is one of the most common type fillet weld in industrial production, usually by steel plate and angle bar, channel steel, I-steel,
The composition such as band iron.Theoretically, fillet weld linear state, but weldment form error, welding deformation due to forming fillet weld
Etc. factors, fillet weld shape can occur bending and deformation, and be difficult to be expressed with mathematical model.Using welding robot or certainly
When dynamic welder, it may appear that be partially welded, the welding defects such as solder skip, have to be avoided.The tracking technique of existing weld seam,
It is using the shape data of the sensors such as camera acquisition weld seam, the control system for then passing to welding robot carries out data
Processing, control system send instructions to running gear and run according to seam track.Being limited in that for this technology can be used only in
Have in the welding robot equipment of control system, the automatic welder of not controller is not available, and welding surroundings temperature
Spend it is very high, dust is larger, also will affect the precision and service life of the sensors such as camera, the requirement to controller CPU also compared with
It is high.
Summary of the invention
The technical problem to be solved by the present invention is to form the weldment of fillet weld due to factors such as form error, welding deformations
It influences, fillet weld shape can occur bending and deformation, and deform irregular, difficult prediction, be difficult to be expressed with mathematical model, provide one
Kind is tracked using mechanical system, use scope is wide, the requirement to welding surroundings is lower, especially suitable for the straight of medium-sized and small enterprises production
Fillet weld track bi-directional tracking device and its tracking.
In order to solve the above technical problems, the present invention adopts the following technical solutions: a kind of right angle welding seam track bi-directional tracking dress
Set, including fixed plate, horizontal slider, straight line idler wheel, upright slide block, transverse slat and and riser, transverse slat and riser are vertically fixed, described
Horizontal slider be arranged on transverse slat, horizontal slide rail is equipped between fixed plate and horizontal slider, level is equipped on the left of horizontal slider
Spring, right side and straight line idler wheel connect；Upright slide block is arranged on the left of riser, is equipped between riser and upright slide block vertical sliding
Rail, upright slide block top are equipped with uprighting spring, vertical bar are equipped with below upright slide block, and vertical bar lower end is equipped with steel ball idler wheel, vertical bar
Right side is equipped with electrode holder.
The straight line idler wheel is in contact with vertical weldment, and steel ball idler wheel is in contact with horizontal weldment, horizontal spring and perpendicular
Straight spring is compressed spring.
The contact surface and fillet weld of the straight line idler wheel and vertical weldment are on same vertical plane.
The contact surface and fillet weld of the straight line idler wheel and vertical weldment be not on same vertical plane, and straight line idler wheel is by prolonging
Long slab is connected with the horizontal slide block.
Electrode holder mouth is equipped on the downside of the electrode holder.
A kind of tracking of right angle welding seam track bi-directional tracking device, it is characterised in that the following steps are included: 1. installing
Horizontal spring, horizontal spring has pre compressed magnitude when installing, so that the straight line idler wheel being connected with the horizontal slide block is pressed on vertically always
On weldment；2. installing uprighting spring, uprighting spring has pre compressed magnitude when installing, so that the steel ball idler wheel connecting with upright slide block
Always it is pressed on horizontal weldment；3. electrode holder is fixed together with upright slide block, fixed plate be mounted on welding robot or
On the moving arm of person's automatic welder；4. electrode holder is welded against the fillet weld that vertical weldment is constituted with horizontal weldment.
4. when the electrode holder is welded along fillet weld, electrode holder moves step along the welding direction of motion, straight line idler wheel
In scraggly vertical weldment apparent motion, horizontal slider can also be done perpendicular to vertical while moving along welding direction
The undulatory motion of weldment, while electrode holder does and moves synchronously with horizontal slider.
5. when the electrode holder is welded along fillet weld, electrode holder moves step along the welding direction of motion, steel ball rolling
In scraggly horizontal weldment apparent motion, upright slide block can also be done perpendicular to water wheel while moving along welding direction
The undulatory motion of downhand welding part, while electrode holder does and moves synchronously with upright slide block, realizes weld joint tracking in the vertical direction.
The present invention realizes the bidirectional profile modeling tracking of two vertical direction, and structure is simple, and precision is higher；It is cheap；With
Track is non-delay, real-time is good；Strong antijamming capability can adapt to more severe welding condition.It is suitble to welding robot, including closes
Save robot and Cartesian robot；Also it is suitble to automatic welding machine.Strong applicability, straight line idler wheel can according to weldment model and
Size does corresponding change.
Detailed description of the invention
Fig. 1 is structure of the invention schematic diagram；
Fig. 2 is weld shape of the present invention and welding direction of motion relational graph；
Fig. 3 is schematic structural view of the invention；
The contact surface and fillet weld that Fig. 4 is straight line idler wheel and vertical weldment are on same vertical plane, when vertical weldment is band steel
Using state structure diagram；
The contact surface and fillet weld that Fig. 5 is straight line idler wheel and vertical weldment are on same vertical plane, when vertical weldment is channel steel
Using state structure diagram；
The contact surface and fillet weld that Fig. 6 is straight line idler wheel and vertical weldment are on same vertical plane, when vertical weldment is I-steel
Using state structure diagram；
The contact surface and fillet weld that Fig. 7 is straight line idler wheel and vertical weldment be not on same vertical plane, when vertical weldment is angle steel
Using state structure diagram；
The contact surface and fillet weld that Fig. 8 is straight line idler wheel and vertical weldment are on same vertical plane, straight line idler wheel installation dimension knot
Structure schematic diagram；
The contact surface and fillet weld that Fig. 9 is straight line idler wheel and vertical weldment are not on same vertical plane, straight line idler wheel installation dimension
Structural schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 9, a kind of right angle welding seam track bi-directional tracking device, including it is fixed plate 1, horizontal slider 4, straight
Line idler wheel 5, upright slide block 8, transverse slat 14 and with vertical version 15, transverse slat 14 and riser 15 are vertically fixed, and the horizontal slider 4 is arranged
On transverse slat 14, it is equipped with horizontal slide rail 2 between fixed plate 1 and horizontal slider 4, horizontal spring 3, the right side are equipped on the left of horizontal slider 4
Side is connect with straight line idler wheel 5；The setting of upright slide block 8 is equipped with upright slide rail in 15 left side of riser between riser 15 and upright slide block 8
6, it is equipped with uprighting spring 7 above upright slide block 8, vertical bar 11 is equipped with below upright slide block 8,11 lower end of vertical bar is equipped with steel ball idler wheel
10, electrode holder 9 is equipped on the right side of vertical bar 11.Horizontal slider 4 can be moved left and right relative to fixed plate 1, be equipped on horizontal slider 4 straight
Line idler wheel 5, straight line idler wheel 5 can be replaced.Vertical bullet between upright slide block 8 and horizontal slider 4 equipped with horizontal slide rail 6 and compression
Spring 7, upright slide block can move up and down, and steel ball idler wheel can roll in the horizontal plane.Electrode holder 9 is fixed on upright slide block 8.
This tracking structure can complete the tracking welding of plurality of specifications difference fillet weld.
Weld joint tracking of the present invention is that just have similitude based on profile modeling, that is, weldment surface shape and weld shape.
If Fig. 1 is weld joint tracking schematic diagram of the present invention.Horizontal spring is compressed spring, and there is pre compressed magnitude in when installation, always will be horizontal sliding
Straight line roller compression on block is on vertical weldment.Equally, uprighting spring is also compressed spring, and also there is pre compressed magnitude in when installation,
Always by the steel ball roller compression on upright slide block on horizontal weldment.Electrode holder is fixed together with upright slide block.Gu
Fixed board is mounted on the moving arm of welding robot or automatic welder, can be moved in a straight line along the direction of vertical paper.
Vertical weldment and horizontal weldment constitute fillet weld, and electrode holder is implemented to weld against fillet weld.
The straight line idler wheel 5 is in contact with vertical weldment 12, and steel ball idler wheel 10 is in contact with horizontal weldment 13, horizontal bullet
Spring 3 and uprighting spring 7 are compressed spring.
The contact surface and fillet weld 17 of the straight line idler wheel 5 and vertical weldment 12 are on same vertical plane.Such as fig. 4 to fig. 6
Shown, the vertical weldment 12 of such case can be band steel 21, channel steel 22 or I-steel 23.Straight line idler wheel along band iron, channel steel or
The left-hand face of I-steel is mobile, while steel ball idler wheel is in horizontal weldment apparent motion.Electrode holder realizes profiling along fillet weld
Tracking.
The contact surface and fillet weld 17 of the straight line idler wheel 5 and vertical weldment 12 be not on same vertical plane, straight line idler wheel 5
It is connect by extension plate 51 with horizontal slider 4.As shown in Figure 7 to 9, such case is 24 fillet weld of angle bar, and straight line idler wheel connects
Feeler steel face and weld seam be not in the same vertical plane.Therefore, idler wheel installation dimension and the straight line idler wheel of Fig. 4~Fig. 6 are different
Sample, needs to be arranged extension plate 51, and the installation dimension L2 of Fig. 9 is greater than the installation dimension L1 in Fig. 8, and the width of straight line idler wheel
It is different, it can be replaced according to the concrete condition of weldment.
Electrode holder mouth 16 is equipped on the downside of the electrode holder 9.
A kind of tracking of right angle welding seam track bi-directional tracking device, comprising the following steps: 1. install horizontal spring, water
Coach spring has pre compressed magnitude when installing, so that the straight line idler wheel being connected with the horizontal slide block is pressed on always on vertical weldment；2. pacifying
Uprighting spring is filled, uprighting spring has pre compressed magnitude when installing, so that the steel ball idler wheel connecting with upright slide block is pressed on always
On horizontal weldment；3. electrode holder is fixed together with upright slide block, fixed plate is mounted on welding robot or automatic welder
Moving arm on；4. electrode holder is welded against the fillet weld that vertical weldment is constituted with horizontal weldment.
4. when the electrode holder is welded along fillet weld, electrode holder moves step along the welding direction of motion, straight line idler wheel
In scraggly vertical weldment apparent motion, horizontal slider can also be done perpendicular to vertical while moving along welding direction
The undulatory motion of weldment, while electrode holder does and moves synchronously with horizontal slider.
5. when the electrode holder 9 is welded along fillet weld 17, electrode holder moves step along the welding direction of motion, steel ball
Idler wheel 10 can also be done vertical while moving along welding direction in scraggly horizontal 13 apparent motion of weldment, upright slide block 8
Directly in the undulatory motion of horizontal weldment 13, while electrode holder 9 does and moves synchronously with upright slide block 8, realizes in the vertical direction
Weld joint tracking.
Due to the presence of the factors such as the form error of weldment, welding installation error, welding deformation, the shape of fillet weld can be in
Existing wave state, as shown in Fig. 2, the welding direction of motion and weld seam is not parallel namely the motion profile of electrode holder mouth with fillet weld not
In parallel, if not using weld joint tracking measure, it just will appear welding deviation, weld seam solder skip or insecure, this belongs to weld seam matter
Defect is measured, does not allow to exist.After the present invention uses weld tracker, acted in horizontal compression spring and vertical compressed spring
Under, straight line idler wheel is pressed on always on vertical weldment, and steel ball idler wheel is also pressed on horizontal weldment always.Due to electrode holder and erect
Straight sliding block is fixed together, so the motion profile of electrode holder mouth has just reappeared the shape of weld seam, realizes the bidirectional profile modeling of weld seam
Tracking welding.
Claims (8)
1. a kind of right angle welding seam track bi-directional tracking device, it is characterised in that: including fixed plate (1), horizontal slider (4), straight line
Idler wheel (5), upright slide block (8), transverse slat (14) and riser (15), transverse slat (14) and riser (15) are vertically fixed, the level
Sliding block (4) is arranged on transverse slat (14), is equipped with horizontal slide rail (2) between fixed plate (1) and horizontal slider (4), horizontal slider (4)
Left side is equipped with horizontal spring (3), and right side is connect with straight line idler wheel (5)；Upright slide block (8) setting is on the left of riser (15), riser
(15) upright slide rail (6) are equipped between upright slide block (8), are equipped with uprighting spring (7) above upright slide block (8), upright slide block
(8) lower section is equipped with vertical bar (11), and vertical bar (11) lower end is equipped with steel ball idler wheel (10), is equipped with electrode holder (9) on the right side of vertical bar (11).
2. right angle welding seam track bi-directional tracking device according to claim 1, it is characterised in that: the straight line idler wheel (5)
It is in contact with vertical weldment (12), steel ball idler wheel (10) is in contact with horizontal weldment (13), horizontal spring (3) and uprighting spring
It (7) is compressed spring.
3. right angle welding seam track bi-directional tracking device according to claim 2, it is characterised in that: the straight line idler wheel (5)
With the contact surface of vertical weldment (12) and fillet weld (17) on same vertical plane.
4. right angle welding seam track bi-directional tracking device according to claim 2, it is characterised in that: the straight line idler wheel (5)
With the contact surface of vertical weldment (12) and fillet weld (17) not on same vertical plane, straight line idler wheel (5) passes through extension plate (51)
It is connect with horizontal slider (4).
5. right angle welding seam track bi-directional tracking device according to claim 1, it is characterised in that: under the electrode holder (9)
Side is equipped with electrode holder mouth (16).
6. a kind of tracking of right angle welding seam track bi-directional tracking device according to claim 1-5, special
Sign is that horizontal spring (3) has pre compressed magnitude when installing the following steps are included: 1. installing horizontal spring (3)；2. installing vertical bullet
Spring (7), uprighting spring (7) have pre compressed magnitude when installing；3. electrode holder (9) is fixed together with upright slide block (8), fixed plate
(1) it is mounted on the moving arm of welding robot or automatic welder；4. weld, the straight line of horizontal slider (4) connection is rolled
Wheel (5) is pressed on always on vertical weldment (12), and the steel ball idler wheel (10) connecting with upright slide block (8) is pressed on water always
On downhand welding part (13)；5. electrode holder (9) is welded against the fillet weld (17) that vertical weldment (12) are constituted with horizontal weldment (13).
7. the tracking of right angle welding seam track bi-directional tracking device according to claim 1, it is characterised in that: step is 5.
When the electrode holder (9) is welded along fillet weld (17), electrode holder is moved along the welding direction of motion, and straight line idler wheel (5) is convex
Vertical weldment (12) apparent motion of recessed injustice, horizontal slider (4) can also be done while moving along welding direction perpendicular to perpendicular
The undulatory motion of straight weldment (12), while electrode holder (9) does and moves synchronously with horizontal slider (4), realizes in the horizontal direction
Weld joint tracking.
8. the tracking of right angle welding seam track bi-directional tracking device according to claim 1, it is characterised in that: step is 5.
When the electrode holder (9) is welded along fillet weld (17), electrode holder is moved along the welding direction of motion, and steel ball idler wheel (10) exists
Scraggly horizontal weldment (13) apparent motion, upright slide block (8) while being moved along welding direction, can also do perpendicular to
The undulatory motion of horizontal weldment (13), while electrode holder (9) does and moves synchronously with upright slide block (8), realizes in vertical direction
On weld joint tracking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810836527.6A CN109014672B (en) | 2018-07-26 | 2018-07-26 | Right-angle welding seam track bidirectional tracking device and tracking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810836527.6A CN109014672B (en) | 2018-07-26 | 2018-07-26 | Right-angle welding seam track bidirectional tracking device and tracking method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109014672A true CN109014672A (en) | 2018-12-18 |
| CN109014672B CN109014672B (en) | 2021-02-12 |
Family
ID=64645710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810836527.6A Active CN109014672B (en) | 2018-07-26 | 2018-07-26 | Right-angle welding seam track bidirectional tracking device and tracking method thereof |
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| Country | Link |
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| CN (1) | CN109014672B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109570850A (en) * | 2019-01-29 | 2019-04-05 | 南通豪泰焊材有限公司 | A kind of auxiliary welding device |
| CN109623228A (en) * | 2018-12-27 | 2019-04-16 | 河北创力机电科技有限公司 | A kind of weld seam deviation correcting device |
| CN109702296A (en) * | 2019-01-21 | 2019-05-03 | 南昌大学 | A kind of movable type five degree of freedom welding robot and its design method |
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| CN206263972U (en) * | 2016-11-24 | 2017-06-20 | 佛山市优德机电科技有限公司 | A kind of welding robot is with two axle floating clampers |
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2018
- 2018-07-26 CN CN201810836527.6A patent/CN109014672B/en active Active
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| JPH0246976A (en) * | 1988-08-08 | 1990-02-16 | Babcock Hitachi Kk | Welding device having weld line profiling mechanism |
| CN2595511Y (en) * | 2002-12-24 | 2003-12-31 | 天津鼎盛工程机械有限公司 | Pneumatic contact type welding seam automatic tracking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109623228A (en) * | 2018-12-27 | 2019-04-16 | 河北创力机电科技有限公司 | A kind of weld seam deviation correcting device |
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| CN109570850A (en) * | 2019-01-29 | 2019-04-05 | 南通豪泰焊材有限公司 | A kind of auxiliary welding device |
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| CN109014672B (en) | 2021-02-12 |
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Effective date of registration: 20240914 Address after: 276000 Xiakou Industrial Park, Linnan Town, Linyi County, Dezhou City, Shandong Province Patentee after: SHANDONG HUAAO ELECTRICAL CO.,LTD. Country or region after: China Address before: 451191 Xianghe Road, Longhu Town, Zhengzhou City, Henan Province Patentee before: HENAN INSTITUTE OF ENGINEERING Country or region before: China |