A semi-automatic equipment for splicing preforms and a control system thereof

Abstract

The application provides a preform splicing semi-automatic equipment and a control system, which comprises a mold piece, a mold taking piece and a welding manipulator. The mold piece comprises an upper mold and a lower mold. At least one preform is placed on the lower mold. The mold taking piece is used to drive the upper mold to move so as to separate or combine the upper mold and the lower mold. The welding manipulator is used to weld the preform between the upper mold and the lower mold. The preform mold can be automatically compressed and welded, and the splicing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, and more particularly to a preform splicing semi-automatic device and a control system. BACKGROUND

[0002] The composition of the product is spliced by multiple composite preforms, and the existing splicing method mainly presses the multiple composite preforms by a simple mold, and then manually welds by workers. This welding method has high cost and low efficiency, and has high welding requirements. The existing mold cannot meet the pressing tightness of the preform, and therefore cannot meet the demand for automation. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide a preform splicing semi-automatic device and a control system. The preform splicing semi-automatic device can automatically press and weld the preform mold, thereby improving the splicing efficiency.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0005] A preform splicing semi-automatic device, comprising a mold piece, a mold taking piece and a welding manipulator, the mold piece comprising an upper mold and a lower mold, at least one preform being placed on the lower mold, the mold taking piece being used to drive the upper mold to move so as to separate or combine the upper mold and the lower mold, and the welding manipulator being used to weld the preform between the upper mold and the lower mold.

[0006] Further, the outer edge of the upper mold is provided with a plurality of evenly distributed welding grooves.

[0007] Further, the outer edge corner of the upper mold is provided with a missing groove, and the upper surface of the lower mold is provided with a protruding portion abutting in the missing groove.

[0008] Further, the upper surface center of the upper mold is provided with a grab platform, and the mold taking piece provides an adsorption force for the grab platform, so as to suck or drop the upper mold.

[0009] Further, the mold taking piece comprises a pressing suction cup and a driving part, the pressing suction cup vertically faces the upper surface of the grab platform, and the driving part drives the pressing suction cup to move in the vertical direction, so as to approach or move away from the grab platform.

[0010] Further, the bottom of the pressing suction cup is further provided with at least one group of retractable signal rods.

[0011] Further, the opposite two sides of the grab platform are provided with outward extending positioning members, and the positioning members have a positioning height, and the mold taking member further comprises a positioning plate, and the positioning plate is respectively located at the opposite two sides of the pressing suction disc, and the spacing between the two groups of positioning members is the same as the spacing between the two groups of positioning plates.

[0012] Further, the bottom of the lower mold is provided with a sliding seat, and the lower mold is slidingly connected to the sliding seat.

[0013] A semi-automatic control system for splicing preforms comprises an acquisition module, a judgment module, a processing module, and a control module.

[0014] The acquisition module is configured to acquire images of the surface of the upper mold.

[0015] The judgment module is configured to divide the welding area and identify and mark the welding positions in the welding area.

[0016] The processing module is configured to mark a plurality of welding points of the welding positions and connect the plurality of welding points to obtain a welding track.

[0017] The control module is configured to control the welding manipulator to weld according to the welding track.

[0018] Further, the system further comprises a feedback module configured to judge the welding condition on the welding track.

[0019] The present application has the following advantages:

[0020] 1. The mold taking member is used to separate or combine the upper mold and the lower mold, and the welding manipulator is used to realize automatic spot welding, which saves manpower and improves welding efficiency compared with traditional manual welding.

[0021] 2. The acquisition module can acquire images on the upper mold, the judgment module can locate the welding points of the preform plate, i.e., the welding grooves of the upper mold, and the processing module can connect the welding points in the welding grooves to obtain the welding track, so as to accurately complete the welding by the welding manipulator, and finally the feedback module can judge whether the welding seam meets the requirements. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic structural view of the present application;

[0023] Figure 2 is a structural view of the upper mold and the lower mold in the present application;

[0024] Figure 3 is an enlarged view of the mold taking member in the present application;

[0025] Figure 4 is a control diagram of the present application.

[0026] Fig. 1 is an upper mold; 2 is a lower mold; 3 is a mold taking member; 31 is a pressing suction cup; 32 is a driving part; 33 is a signal rod; 4 is a welding manipulator; 5 is a welding groove; 6 is a missing groove; 7 is a protruding part; 8 is a grabbing table; 9 is a positioning member; 10 is a positioning plate; 11 is a sliding seat; 101 is a collection module; 102 is a judgment module; 103 is a processing module; 104 is a control module; 105 is a feedback module. DETAILED DESCRIPTION

[0027] The present application will be further described in detail below in conjunction with the drawings and examples. Identical parts are denoted by identical reference numerals. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0028] Since the existing preform splicing method mainly presses multiple composite material preforms by a simple mold, and then manually welds by workers, this welding method has high cost and low efficiency, and has high requirements for welding, and the existing mold is difficult to meet the pressing tightness of the preform, so it is difficult to meet the demand for automation; therefore, the present application designs such a preform splicing semi-automatic equipment, as shown in Figure 1 As shown, it comprises a mold member, a mold taking member 3 and a welding manipulator 4, the mold member comprises an upper mold 1 and a lower mold 2, the bottom of the lower mold 2 is provided with a sliding seat 11, the sliding seat 11 is provided with a driving motor and two groups of sliding rails, the driving motor drives the lower mold 2 to slide on the sliding rails, at least one preform is placed on the lower mold 2, the mold taking member 3 is located above the upper mold 1, the mold taking member 3 is used to drive the upper mold 1 to move so as to separate or combine the upper mold 1 and the lower mold 2, the welding manipulator 4 is used to weld the preform between the upper mold 1 and the lower mold 2, as shown in Figure 2As shown, due to the requirement of the preform, the outer edge corner of the upper mold 1 is provided with a notch 6, and the upper surface of the lower mold 2 is provided with a protruding part 7 abutting in the notch 6, when the preform is placed on the lower mold 2 and can be completely attached to the lower mold 2, the mold closing of the upper mold 1 is facilitated, and the welding after positioning is also facilitated, and the multi-layer preform welding needs to be welded at some points, so a plurality of evenly distributed welding grooves 5 are arranged on the outer edge of the upper mold 1, the positions of the welding grooves 5 are one-to-one corresponding to the positions of the preform welding, and the welding of the welding manipulator 4 plays a certain point recognition and limiting role, the welding manipulator 4 is provided with an ultrasonic welding head, when welding is needed, the welding manipulator 4 aims the ultrasonic welding head at the welding groove 5 and inserts it into the welding groove 5 for welding, which can be spot welding or welding along the groove edge of the welding groove 5. Compared with the traditional manual welding, the automatic welding saves manpower and improves the welding efficiency.

[0029] As shown in the figure, Figure 2 The upper surface of the upper mold 1 is provided with a grab table 8, and the mold taking member 3 provides the grab table 8 with a suction force, so that the mold taking member 3 can suck or put down the upper mold 1; specifically, as shown in the figure, Figure 3 The mold taking member 3 includes a support, a lifting spindle, a pressing suction cup 31 and a driving part 32, the support is arranged above the sliding seat 11, the lifting spindle is slidingly connected to the support, the pressing suction cup 31 is located at the bottom of the lifting spindle and vertically faces the upper surface of the grab table 8, and the driving part 32 includes a driving motor, a transmission gear and a rack, the movement of the lifting spindle relies on the rotation of the transmission gear to drive the rack to move up and down, that is, the driving pressing suction cup 31 moves in the vertical direction, so that the pressing suction cup 31 approaches or moves away from the grab table 8, which can not only press the multi-layer preform tightly, but also realize demolding.

[0030] In order to facilitate the pressure of the pressing suction cup 31 to press downwardly on the upper mold 1, as shown in the figure, Figure 3 At least one group of retractable signal rods 33 are further arranged at the bottom of the pressing suction cup 31, the distance of the contraction of the signal rods 33 conducts a signal, which is converted into a pressing force, and the extension and contraction of the signal rods 33 can facilitate the accurate control of the lifting of the lifting spindle.

[0031] The outer edges of the opposite sides of the grab table 8 are both provided with outwardly extending positioning members 9, the positioning members 9 in the present application are L-shaped plates, that is, the positioning members 9 have a positioning height (one end of the L-shaped plate), and the mold taking member 3 further includes positioning plates 10, the positioning plates 10 are respectively located at the opposite sides of the pressing suction cup 31, the spacing between the two groups of positioning members 9 is the same as the spacing between the two groups of positioning plates 10, which can be positioned in advance when taking the mold or pressing, so as to avoid mispositioning and cause processing accidents.

[0032] Another embodiment, wherein the way the mold taking module 3 extracts the upper mold 1 can also be a way of grabbing, by moving the two sets of positioning plates 10 horizontally, increasing or decreasing the distance between the two sets of positioning plates 10, when the two sets of positioning plates 10 clamp the positioning piece 9, it is clamped stably by clamping force, and then lifting can lift the upper mold 1.

[0033] On the basis of the prefabricated body splicing semi-automatic equipment, the corresponding control system is matched, and the equipment needs to complete the processes of mold closing and welding, so as to Figure 4 As shown in the figure, the system includes a collection module 101, a judgment module 102, a processing module 103, and a control module 104.

[0034] The mold taking module 3 is provided with a visual collector, and the collection module 101 obtains the image of the surface of the upper mold 1 according to the visual collector. The image includes two parts. The first part is the image of the prefabricated part on the lower mold 2 when the upper mold 1 is not closed with the lower mold 2, and the second part is the image of the whole after the upper mold 1 is closed with the lower mold 2.

[0035] The judgment module 102 first locates the mold closing position of the upper mold 1 according to the first part of the image. Since the lower mold 2 is slidingly connected to the sliding seat 11, in the initial state, the lower mold 2 slides away from the mold taking module 3. After the prefabricated plate is placed on the lower mold 2 by artificial or mechanical hand, the lower mold 2 slides to drive the prefabricated plate to slide to the position directly below the mold taking module 3, and the judgment module 102 can judge the sliding distance of the lower mold 2 according to the position of the upper mold 1.

[0036] When the upper mold 1 is closed with the lower mold 2, welding is needed. The judgment module 102 divides the welding area according to the second part of the image. The welding area is in the several welding grooves 5 of the upper mold 1, and the welding position in the welding area is identified and marked. The marked point is the point of the welding groove 5.

[0037] The processing module 103 is used for marking several welding points of the welding position, and connecting the several welding points to obtain a welding track. The welding robot 4 can choose spot welding or continuous welding. If continuous welding is selected, the edge of the welding groove 5 is used as the welding track.

[0038] The control module 104 is used for controlling the welding robot 4 to weld according to the welding track.

[0039] After the welding robot 4 completes welding at all positions that need to be welded, it needs to detect whether the welding is missed or incomplete, so a feedback module 105 is also provided. The feedback module 105 is used for judging the welding condition on the welding track. According to the image after welding, the completeness of the welding seam and whether the track of the welding seam coincides with the track of the welding groove 5 are judged. If the result is abnormal, whether to repeat welding is output to the control module 104.

[0040] The above are only preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical scheme falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. A semi-automatic equipment for the splicing of preforms, characterized in that it comprises: The application relates to a preform splicing semi-automatic equipment, which comprises a mold piece, a mold taking piece (3) and a welding mechanical arm (4), the mold piece comprises an upper mold (1) and a lower mold (2), at least one preform is arranged on the lower mold (2), the mold taking piece (3) is used for driving the upper mold (1) to move so as to separate or combine the upper mold (1) and the lower mold (2), and the welding mechanical arm (4) is used for welding the preform between the upper mold (1) and the lower mold (2); the outer edge of the upper mold (1) is provided with a plurality of evenly-distributed welding grooves (5); the outer edge corner of the upper mold (1) is provided with a missing groove (6), the upper surface of the lower mold (2) is provided with a protruding part (7) which is abutted in the missing groove (6); the center of the upper surface of the upper mold (1) is provided with a grab platform (8), the mold taking piece (3) provides a suction force for the grab platform (8) so that the mold taking piece (3) can suck or release the upper mold (1); the mold taking piece (3) comprises a pressing suction disc (31) and a driving part (32), the pressing suction disc (31) vertically faces the upper surface of the grab platform (8), and the driving part (32) drives the pressing suction disc (31) to move in the vertical direction so that the pressing suction disc (31) is close to or far away from the grab platform (8); the bottom of the pressing suction disc (31) is further provided with at least one group of retractable signal rods (33); the outer edges of the opposite sides of the grab platform (8) are both provided with outwardly-extending positioning pieces (9), and the positioning pieces (9) have a positioning height; the mold taking piece (3) further comprises positioning plates (10), the positioning plates (10) are respectively located on the opposite sides of the pressing suction disc (31), and the spacing between the two groups of positioning pieces (9) is the same as the spacing between the two groups of positioning plates (10).

2. The semi-automatic equipment for splicing preforms according to claim 1, characterized in that: The bottom of the lower mold (2) is provided with a sliding seat (11), and the lower mold (2) is slidingly connected to the sliding seat (11).

3. A semi-automatic control system for preform splicing, characterized in that: The preform splicing semi-automatic equipment according to any one of claims 1-2 comprises an acquisition module (101), a judgment module (102), a processing module (103) and a control module (104); The mold taking piece (3) is provided with a visual acquisition device, the acquisition module (101) acquires the image of the surface of the upper mold (1) according to the visual acquisition device, and the image comprises two parts, the first part is the image of the preform on the lower mold (2) when the upper mold (1) is not combined with the lower mold (2), and the second part is the image of the whole after the upper mold (1) is combined with the lower mold (2); The judgment module (102) is used for dividing a welding area and identifying and marking the welding position in the welding area, the combined position of the upper mold (1) is located according to the first part of the image, and the welding position in the welding area is identified and marked, the welding area is in the plurality of welding grooves (5) of the upper mold (1), and the marked point position is the point position of the welding groove (5); The processing module (103) is used for marking a plurality of welding points of the welding position, and a welding track is obtained by connecting the plurality of welding points. The control module (104) is configured to control the welding robot (4) to weld according to the welding track.

4. The semi-automatic control system for splicing preforms according to claim 3, characterized in that: The feedback module (105) is further included and configured to judge the welding condition on the welding track.

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