Intelligent arc welding workstation based on laser vision and working method thereof

Abstract

The intelligent arc welding workstation based on the laser vision comprises a supporting frame, two material conveying frames are fixedly arranged on one side of the supporting frame, tool blocks are symmetrically connected to the supporting frame in a sliding mode, a top frame is fixedly connected to the supporting frame, mounting rods are fixedly connected to the two sides of the top frame, guide grooves are formed in one sides of the mounting rods, and movable frames are arranged in the guide grooves in a sliding mode; locking assemblies are arranged at the two ends of the supporting frame in a sliding mode, material guiding assemblies distributed in an array mode are fixedly arranged on the supporting frame, each material guiding assembly comprises two guiding rods, an adjusting assembly is installed between the two guiding rods, and each adjusting assembly comprises a first side rod, a second side rod and an adjusting screw rod. Then the pipeline is moved to the first side rod and the second side rod to be aligned; adjusting a welding gun to perform arc welding on the pipeline. According to the arc welding workstation, the pipe materials are discharged and conveyed, the pipe materials are automatically and intelligently conveyed in a quantitative mode, the ends of the pipe materials are automatically aligned before welding, the machining efficiency is high, the machining process is stable, and welding seams of the welded pipe materials are neat.

Description

Technical Field

[0001] The invention relates to the technical field of automated arc welding of metal pipes, and in particular to an intelligent arc welding workstation based on laser vision and a working method thereof. Background Art

[0002] Welding technology has been developed for many years, among which arc welding is the most widely used, and laser vision technology is used in the arc welding process to ensure the accuracy of the welding process.

[0003] In the prior art, the name disclosed in the application number: CN2017208642142 is: a laser vision navigation flexible autonomous welding robot, the IPC classification number is B23K9 / 00, which includes a robot body, a crawling mechanism for facilitating the climbing of the robot body, a welding gun arranged on the robot body for facilitating welding, a wire feeder arranged on one side of the robot body and providing welding wire to the welding gun, and a laser for laser scanning; the robot body includes an X-axis transmission mechanism, a Y-axis transmission mechanism, a Z-axis transmission mechanism, and an R-axis transmission mechanism.

[0004] However, in the prior art, such as the laser vision navigation flexible autonomous welding robot mentioned in application number: CN2017208642142, during the arc welding process of pipe butt welding, the robot performs circular arc welding on the pipe, and the welding process has a large error, making it difficult to achieve high-precision welding of the pipe. Therefore, it is necessary to design an intelligent arc welding workstation based on laser vision and its working method. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent arc welding workstation based on laser vision and a working method thereof to solve the problems in the prior art.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] An intelligent arc welding workstation based on laser vision comprises a support frame, two material conveying racks for conveying pipe materials are fixedly arranged on one side of the support frame, tooling blocks are symmetrically slidably connected to the support frame, a top frame is fixedly connected to the support frame, mounting rods are fixedly connected to both sides of the top frame, a guide groove is arranged on one side of the mounting rod, and a movable rack is slidably arranged in the guide groove.

[0008] The support frame is slidably provided with locking components at both ends, and an array-distributed material guide component is fixed on the support frame. The material guide component includes two guide rods, and an adjustment component is installed between the two guide rods. The adjustment component includes side rod one, side rod two and an adjustment screw. Side rod one and side rod two are rotatably connected by an adjustment shaft, and the adjustment shaft is rotatably connected to the adjustment screw.

[0009] Furthermore, a support rod is fixedly connected in the support frame, a guide groove is provided on the support rod, a double-headed screw for installing the tooling block is rotatably provided in the guide groove, and a motor 1 for connecting and driving the double-headed screw is fixedly connected to one side of the support frame.

[0010] The support frame has an array of oblique rods fixedly connected therein, two ends of the support frame are fixedly connected to slide rails, the support frame is fixedly connected to a cylinder, a plurality of flat plates are fixedly connected therein, and springs are fixedly connected to the flat plates.

[0011] Furthermore, a conveyor belt is fixedly connected to the conveyor frame, a transition plate is fixedly connected to the conveyor frame, a baffle plate is fixedly connected to one side of the conveyor frame, and two inclined rods for supporting pipe materials are located at one end of the conveyor belt.

[0012] The top frame is fixedly connected with mounting frames on both sides, and cylinder three is fixedly arranged on the mounting frames. The output end of cylinder three is fixedly connected with a material blocking plate for preventing the pipe material from being transported, and the material blocking plate is located above the intersection of the conveyor belt and the inclined rod.

[0013] Furthermore, the tooling block is slidably installed in the guide groove, the tooling block is threadedly connected to the double-headed screw, a side support plate is obliquely fixed to the tooling block, the side support plates on the two tooling blocks form a V-shaped structure for fixing the pipe material, a driving belt is installed on the side support plate, a second motor is fixed to the tooling block, a rotating roller is fixed to the output end of the second motor, and the rotating roller is installed in coordination with the driving belt.

[0014] Furthermore, the material guide assembly includes two guide rods, which are connected to the oblique rods by bolts to form a V-shaped groove for fixing the pipe material. One end of the guide rod is fixed with a push rod, one end of the side rod is rotatably provided with a slider slidably connected to one push rod, and one end of the side rod is slidably connected to the other push rod.

[0015] The adjusting screw is threadedly connected to the flat plate, the spring is sleeved on the adjusting screw, and the spring is installed between the flat plate and the adjusting shaft.

[0016] Furthermore, the locking assembly includes a vertical plate, one side of which is fixedly connected to a moving rod for sliding installation on a slide rail, the moving rod is vertically connected to the vertical plate, the output end of the cylinder is fixedly connected to the vertical plate, a fixing groove is provided on the vertical plate, a guide rod is fixedly provided in the fixing groove, and a lead screw is rotatably provided in the fixing groove.

[0017] The vertical plate is fixedly provided with a motor three for connecting to a driving screw one, a mounting plate is slidably connected to the guide rod one, the mounting plate is threadedly connected to the screw one, and one end of the mounting plate is rotatably connected to a rotating roller for supporting the inner wall of the pipe material.

[0018] Furthermore, the top frame is fixedly installed on the support frame, connecting rods are fixedly installed on both sides of the top frame, and pressure rods for fixing pipe materials are rotatably installed on the connecting rods. A welding gun for arc welding is fixedly connected to the second output end of the cylinder.

[0019] The top frame is provided with a sliding groove, a guide bar is fixedly provided in the sliding groove, a mounting seat is slidably provided on the guide bar, and a sensor for laser visual monitoring is rotatably installed on the mounting seat.

[0020] Furthermore, a guide rod 2 is fixedly provided on one side of the top frame, and a lead screw 2 is rotatably provided on the other side. A mounting seat is slidably mounted on the guide rod 2, the mounting seat is threadedly connected to the lead screw 2, and a cylinder 2 is fixedly mounted on the mounting seat.

[0021] A motor seven for driving the pressure rod to rotate is fixedly installed on the connecting rod, the welding gun is located above the two side support plates, and a motor four for connecting and driving the lead screw two is fixedly installed at one end of the top frame, and a lead screw three is rotatably installed in the sliding groove.

[0022] The top frame is fixedly provided with a motor five for connecting and driving the lead screw three, the mounting seat is threadedly connected to the lead screw three, and a motor six for rotating the sensor is fixedly installed on one side of the mounting seat.

[0023] Furthermore, material moving assemblies are fixedly connected on both sides of the top frame, and the material moving assemblies include mounting rods, two telescopic rods are fixedly connected to the bottom of the moving frame, a cross frame is fixedly connected to the bottom of the telescopic rods, and two pushing rods for moving pipe materials are fixedly connected to the cross frame. A right-angle block is fastened to one side of the pushing rod, and the inclined surface of the right-angle block faces the conveyor belt. Two motor frames are fixedly provided on the support frame.

[0024] The motor frame is fixedly mounted with a motor eight, the output end of the motor eight is fixedly connected with a swing rod, the movable frame is provided with a horizontal slot, the horizontal slot is vertically arranged with the mounting rod, a matching rod is slidably arranged in the horizontal slot, and one end of the swing rod is fixedly connected with the matching rod.

[0025] A working method of an intelligent arc welding workstation based on laser vision, the working method comprising the following steps:

[0026] S1. Loading

[0027] The pipes to be welded are transported to the conveyor rack, which arranges the pipes to be welded in sequence and then transports them to the inclined rod.

[0028] S2. Material transfer

[0029] During the translation of the material transfer rack, the pipes on the inclined rod are moved to move the pipes to the side rod one and the side rod two, and the locking assembly is moved to push the two pipes to align.

[0030] S3. Welding Process

[0031] The pipeline is limited by two rotatable pressure rods. After adjusting the working position of the welding gun and the sensor, the pipeline can be processed by intelligent arc welding.

[0032] Beneficial effects of the present invention:

[0033] 1. The intelligent arc welding workstation of the present invention utilizes the pipe material discharging and conveying to automatically and intelligently convey the pipe material in a quantitative manner, and utilizes the V-shaped slot or V-shaped structure to automatically position and fix the pipe material. When the pipe material is located on both sides of the V-shaped structure, the ends of the pipe material are automatically aligned, and the locking assembly is utilized to move and align the pipe material;

[0034] 2. The intelligent arc welding workstation of the present invention has a stable welding gun position during the welding process, and is equipped with an intelligent laser vision sensor for monitoring to improve welding accuracy. In addition, during the welding process, the pipe material is aligned and moved synchronously, thereby facilitating the automatic arc welding operation of the welding gun, with high processing efficiency and stable processing.

[0035] 3. The working method of the present invention can automatically load and unload pipes, automatically align pipes, improve welding accuracy, and automatically rotate pipes during welding, which is convenient for the welding gun to perform precise arc welding processing, and the weld seams of the pipes after welding are neat. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 It is a partial structural schematic diagram of the intelligent arc welding workstation of the present invention;

[0039] Figure 3 The present invention Figure 2 The enlarged structural diagram at A in the middle;

[0040] Figure 4 is a cross-sectional view of the intelligent arc welding workstation of the present invention;

[0041] Figure 5 It is a schematic diagram of the cross-sectional structure of the intelligent arc welding workstation of the present invention;

[0042] Figure 6 It is a structural schematic diagram of the intelligent arc welding workstation of the present invention;

[0043] Figure 7 The present invention Figure 6 The enlarged structural diagram at B in the middle;

[0044] Figure 8 It is a schematic diagram of the locking assembly structure of the present invention;

[0045] Fig. 9 It is a partial structural schematic diagram of the intelligent arc welding workstation of the present invention;

[0046] Fig.10 The present invention Fig. 9 The enlarged structural diagram at C in the middle;

[0047] Fig.11 The present invention Fig. 9 Enlarged structural diagram at D in the middle. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] The invention discloses an intelligent arc welding workstation based on laser vision, which is an intelligent arc welding workstation characterized by automatic metal pipe welding, and its IPC classification number is: B23K9 / 00.

[0050] like Figure 1 As shown, the intelligent arc welding workstation includes a support frame 1, two feed racks 2 are fixedly provided on one side of the support frame 1, the pipes to be welded are located on the feed rack 2 for transportation, symmetrically distributed tooling blocks 6 are slidably provided on the support frame 1, a top frame 3 is fixedly connected to the support frame 1, material moving components 4 are fixedly provided on both sides of the top frame 3, locking components 5 are slidably installed at both ends of the support frame 1, and a material guiding component 7 is provided on the support frame 1 and between the tooling block 6 and the locking component 5.

[0051] like Figure 2-5 As shown, a support rod 11 is fixedly connected inside the support frame 1, a guide groove 12 is opened on the support rod 11, a double-headed screw 17 is rotatably installed in the guide groove 12, one end of the double-headed screw 17 is connected to a motor 10, and the motor 10 is fixedly installed on one side of the support frame 1. An array-distributed inclined rod 13 is fixedly installed inside the support frame 1.

[0052] Slide rails 15 are fixedly installed at both ends of the support frame 1 , a cylinder 16 is fixedly connected to the support frame 1 , a plurality of plates 14 are fixedly arranged inside the support frame 1 , a spring 141 is fixedly connected to the plate 14 , and the spring 141 is used to support the material guide assembly 7 .

[0053] A conveyor belt 21 is fixedly connected to the conveyor frame 2. The conveyor frame 2 is an L-shaped structure. A transition plate 23 is fixedly connected to the conveyor frame 2. The transition plate 23 is located on the conveyor belt 21, and a tensioning roller 24 is provided between the transition plate 23 and the conveyor frame 2 for tensioning the conveyor belt 21. A baffle plate 22 is fixedly provided on one side of the conveyor frame 2. The pipes to be welded are transported from top to bottom between the conveyor frame 2 and the baffle plate 22, and then transported to one side of the support frame 1 along the transition plate 23. The two inclined rods 13 are located at one end of the conveyor belt 21, and the pipes are sent to the inclined rods 13 in sequence.

[0054] The tooling block 6 is slidably connected to the guide groove 12, and the tooling block 6 is threadedly connected to the double-headed screw 17. The tooling block 6 slides along the guide groove 12 under the drive of the double-headed screw 17. An inclined side support plate 62 is fixed on the tooling block 6. The side support plates 62 on the two tooling blocks 6 form a V-shaped structure, and the pipe to be welded is located between the two side support plates 62.

[0055] A mounting groove is provided on the side support plate 62, and a driving belt 63 is provided in the mounting groove. A motor 2 60 is fixedly installed on the tooling block 6, and a rotating roller 64 is fixedly connected to the output end of the motor 2 60. The rotating roller 64 is installed in cooperation with the driving belt 63 to control the operation of the driving belt 63, control the pipeline in the welding process, and flip the pipeline to perform the ring welding connection processing of the circular pipeline.

[0056] The material guide assembly 7 includes two guide rods 71, and the two guide rods 71 ​​are fixedly connected to the inclined rod 13 on the inner wall of the support frame 1 respectively. One end of the guide rod 71 is fixedly connected to the side of the inclined rod 13 by a bolt, and the other end is fixedly connected to a push rod 72. An adjustment assembly is provided at the end of the push rod 72 away from the guide rod 71. A V-shaped groove is formed between the guide rod 71 and the inclined rod 13 for fixing the conveyed pipe. Then, after the pipe moves up along the guide rod 71 and passes over the push rod 72, it reaches the adjustment assembly between the two guide rods 71. The adjustment assembly fixes the pipe to assist in positioning the two pipes.

[0057] The adjustment assembly consists of a side rod 1 74, a side rod 2 75 and an adjustment screw 76. The side rod 1 74 is rotatably connected to the side rod 2 75. The end of the side rod 1 74 away from the side rod 2 75 is rotatably connected to a slider, and the slider is slidably connected to a push rod 72. The end of the side rod 2 75 away from the side rod 1 74 is fixed with a pin, which is slidably connected to another push rod 72, and the pin can be rotatably connected to the push rod 72.

[0058] An adjusting shaft 73 is rotatably provided at the connection between the side rod 1 74 and the side rod 2 75, and an adjusting screw 76 is rotatably installed on the adjusting shaft 73, and the adjusting screw 76 is threadedly connected to the plate 14, and a spring 141 is sleeved on the adjusting screw 76, and one end of the spring 141 is fixedly connected to the plate 14, and the other end is abutted and supported at the bottom of the adjusting shaft 73, which can support the side rod 1 74 and the side rod 2 75 that carry the welding pipe.

[0059] In this embodiment, the side rod 1 74 and the side rod 2 75 are driven by the adjusting screw 76, and the connection between the side rod 1 74 and the side rod 2 75 moves up and down, and the ends of the side rod 1 74 and the side rod 2 75 slide on the top rod 72 respectively, so that the opening size between the side rod 1 74 and the side rod 2 75 can be adjusted to match and fix pipes of different diameters and shapes.

[0060] like Figure 8As shown, the locking assembly 5 includes a vertical plate 51, one side of the vertical plate 51 is fixedly connected with a moving rod 53, the moving rod 53 is slidably connected to the slide rail 15, the moving rod 53 is vertically arranged to the vertical plate 51, a fixing groove 54 is opened on the vertical plate 51, a guide rod 56 is fixedly arranged in the fixing groove 54, a lead screw 55 is rotatably arranged in the fixing groove 54, a motor 3 50 is fixedly installed on the vertical plate 51, and the output end of the motor 3 50 is fixedly connected to the lead screw 1 55.

[0061] A mounting plate 57 is slidably connected to the guide rod 56, and the mounting plate 57 is threadedly connected to the lead screw 55. Driven by the lead screw 55, the mounting plate 57 moves up and down along the guide rod 56. One end of the mounting plate 57 is rotatably connected to a rotating roller 58. A servo motor is provided in the mounting plate 57. The servo motor is used to connect the rotating roller 58 to control the rotation of the rotating roller 58. The output end of the cylinder 16 is fixedly connected to the vertical plate 51.

[0062] When the cylinder 16 drives the vertical plate 51 to move toward the end of the pipe, the vertical plate 51 abuts against the end of one end of the pipe, and moves the pipe to its other end to abut against another pipe, and then stops moving the vertical plate 51, and starts the motor 3 50 to control the mounting plate 57 to move up and down in the vertical direction. When the rotating roller 58 moves to abut against the inner wall of the pipe, the outer wall of the pipe abuts against the side rod 1 74 and the side rod 2 75, and its inner wall abuts against the bottom of the rotating roller 58. The welding process ensures the stability of the pipe and avoids the pipe from tilting due to force.

[0063] In this embodiment, the welding end of the pipeline is located on the driving belt 63. While the driving belt 63 controls the rotation of the pipeline, the rotating roller 58 is inside the pipeline and can replicate the rotation of the pipeline to ensure stable and reliable rotation of the pipeline.

[0064] like Figure 9-11 As shown, the top frame 3 is fixedly mounted on the support frame 1, a guide rod 2 32 is fixedly provided on one side of the top frame 3, and a lead screw 2 33 is rotatably provided on the other side. A movable groove is opened on the top frame 3, and a cylinder 2 35 is arranged in the movable groove. A mounting seat 34 is slidably mounted on the guide rod 2 32, and the mounting seat 34 is threadedly connected to the lead screw 2 33, and the cylinder 2 35 is fixedly mounted on the mounting seat 34.

[0065] The output end of the second cylinder 35 is downward, and a welding gun 36 for arc welding is fixedly connected to the output end. The welding gun 36 is located above the two side support plates 62 to weld the pipes to be welded on the two side support plates 62. When the pipes rotate, the position of the welding gun 36 is fixed, and the pipes are circularly welded by rotating the pipes.

[0066] A motor 4 30 is fixedly installed at one end of the top frame 3, and the output end of the motor 4 30 is fixedly connected to one end of the lead screw 2 33. A motor 5 370 is fixedly installed on the top frame 3. A sliding groove 37 is provided on the top frame 3 and on one side of the welding gun 36. A lead screw 3 38 is rotatably installed in the sliding groove 37, and one end of the lead screw 38 is fixedly connected to the output end of the motor 5 370.

[0067] A vertically arranged guide bar 371 is fixed in the sliding groove 37, a mounting seat 381 is slidably provided on the guide bar 371, the mounting seat 381 is threadedly connected to the lead screw three 38, a motor six 390 is fixedly installed on one side of the mounting seat 381, a rotating rod is fixedly connected to the output end of the motor six 390, the rotating rod is rotatably connected to the mounting seat 381, and a sensor 39 is fixedly installed on the rotating rod.

[0068] In this embodiment, the sensor 39 is a laser vision sensor, which is located on one side of the welding gun 36 and faces the weld of the pipe to be welded, so as to monitor the welding process and obtain the weld information in real time.

[0069] A connecting rod 301 is fixedly installed on the top frame 3 and on both sides of the welding gun 36. A pressure rod 302 is rotatably installed on the connecting rod 301. The pressure rod 302 is rotated onto the pipe to press down the welding end of the circular pipe to prevent the pipe from shifting. Installation rods 44 are fixedly installed on both sides of the top frame 3. A guide groove 441 is opened on one side of the installation rod 44, and a material moving rack 442 is slidably provided in the guide groove 441.

[0070] A horizontal slot 48 is provided on the material moving rack 442 , and a matching rod 49 is slidably provided in the horizontal slot 48 . The horizontal slot 48 and the mounting rod 44 are vertically arranged.

[0071] like Figure 6-Figure 7 As shown, one end of the pressure rod 302 is connected to the output end of the motor seven 303, and the motor seven 303 is fixedly installed on the connecting rod 301. The two sides of the top frame 3 are fixedly provided with mounting frames 27, and the mounting frames 27 are fixedly provided with cylinder three 26. The output end of the cylinder three 26 is fixedly connected with a material blocking plate 25. The material blocking plate 25 is located above the intersection of the conveyor belt 21 and the inclined rod 13, and controls the transportation of a single round tube to the inclined rod 13, and prevents the transportation of the remaining round tubes.

[0072] The bottom of the material moving rack 442 is fixedly connected to two telescopic rods 443, and a spring is arranged inside the telescopic rod 443. The bottom of the telescopic rod 443 is fixedly connected to a cross frame 45, and two pushing rods 46 are fastened to the cross frame 45. A right-angle block 47 is fastened to one side of the pushing rod 46, and the inclined surface of the right-angle block 47 faces the conveyor belt 21. A symmetrically distributed motor frame 41 is fixedly arranged on the support frame 1, and a motor 8 40 is fixedly installed on the motor frame 41.

[0073] The output end of the motor 840 is fixedly connected with a rocker arm 42, and one end of the rocker arm 42 is fixedly connected to the matching rod 49. Driven by the motor 840, the rocker arm 42 rotates to control the horizontal movement of the material moving rack 442 along the guide groove 441, and the material moving rack 442 moves away from the conveyor belt 21. During the translation process of the pushing rod 46, the round tube in the V-shaped groove or V-shaped structure can be moved to control the movement of the round tube for transfer.

[0074] When the material moving rack 442 moves toward the conveyor belt 21, the inclined surface abuts against the round tube, and the round tube is fixed in the V-shaped groove or the V-shaped structure. The material moving rack 442 continues to translate, and the telescopic rod 443 will shrink and compress the spring in the telescopic rod 443, so that the pushing rod 46 will slide over the round tube without affecting the position of the round tube.

[0075] Here’s how it works:

[0076] In the existing welding operation process, usually after the pipe is fixed on the fixture, the welding gun assembly on the arc welding machine bypasses the pipe to perform circumferential welding. This welding process requires precise control of the movement of the welding gun assembly, and the surrounding movement of the welding gun has high requirements, and the welding equipment design has high requirements.

[0077] In this embodiment, an L-shaped feed rack 2 is used to transport the round tubes. The round tubes are sequentially loaded to the top of the feed rack 2. The round tubes are sequentially transported to the bottom of the blocking plate 25 along the guidance of the feed rack 2 and the blocking plate 22. The cylinder three 26 controls the blocking plate 25 to block the round tubes and control the movement of a single round tube onto the inclined rod 13. When the inclined rod 13 carries a round tube, the moving rack 442 can be driven to move horizontally to continue intelligent loading.

[0078] The material moving rack 442 pushes the round tube from the inclined rod 13, slides it along the side of the guide rod 71 to between the side rod 1 74 and the side rod 2 75, completes the welding and loading of the round tube in turn, and fixes the round tube through the V-shaped groove. When fixing round tubes of different shapes or diameters, the adjusting screw 76 can be rotated to control the height of the connection between the side rod 1 74 and the side rod 2 75, and the opening size of the V-shaped groove is changed in turn to facilitate matching and fixing the round tube.

[0079] After the round tube is loaded, the cylinder 16 drives the vertical plate 51 to move toward the end of the pipe, and the vertical plate 51 abuts the end of one end of the pipe, so that the two pipes located on both sides of the top frame 3 move to the end abutment, and then stop moving the vertical plate 51, start the motor 3 50, to control the mounting plate 57 to move vertically until the rotating roller 58 moves and abuts against the inner wall of the pipe. At this time, the outer wall of the pipe abuts against the side rod 1 74 and the side rod 2 75, and its inner wall abuts against the bottom of the rotating roller 58. The welding process ensures the stability of the pipe and avoids the pipe from being tilted due to force.

[0080] After the pipes are aligned, the motor 7 303 is started to control the pressure rod 302 to rotate, and the pressure rod 302 abuts against the top of the two round pipes to limit the position of the round pipes. At this time, the welding ends of the two round pipes are aligned, and then the lead screw 2 33 and the lead screw 38 are started to adjust the movable welding gun 36 and the sensor 39, so that the welding gun 36 is located above the round pipe, and the sensor 39 is aligned with the welding point of the welding gun 36 for intelligent monitoring.

[0081] Then start the motor 2 60, which controls the rotating roller 64 to rotate, to drive the driving belt 63 to work, drive the pipeline in the welding process, make the two pipelines rotate automatically, and make the connection gap between the two pipelines rotate toward the welding gun 36, and perform arc welding on the two pipeline interfaces in turn. After the intelligent welding is completed, that is, during the loading process of the material moving rack 442, the welded pipeline is unloaded, and the unloading is automatic, the welding efficiency is high, the pipeline rotates stably during the welding process, the position of the welding gun 36 is stable, and the welding accuracy is improved.

[0082] A working method of an intelligent arc welding workstation based on laser vision comprises the following steps:

[0083] S1. Loading

[0084] The pipes to be welded are transported to the conveyor rack 2 , which arranges the pipes to be welded in sequence and then transports them to the inclined rod 13 .

[0085] S2. Material transfer

[0086] During the translation of the material moving rack 442, the pipe on the inclined rod 13 is moved so that the pipe moves to the side rod 1 74 and the side rod 2 75, and the locking assembly 5 is moved to push the two pipes to align.

[0087] S3. Welding Process

[0088] The pipeline is limited by two rotatable pressure rods 302, and after adjusting the working positions of the welding gun 36 and the sensor 39, the pipeline can be subjected to intelligent arc welding.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0090] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An intelligent arc welding workstation based on laser vision, comprising a support frame (1), characterized in that: Two material conveying racks (2) for conveying pipe materials are fixedly provided on one side of the support frame (1), tooling blocks (6) are symmetrically slidably connected to the support frame (1), a top frame (3) is fixedly connected to the support frame (1), mounting rods (44) are fixedly connected to both sides of the top frame (3), a guide groove (441) is provided on one side of the mounting rod (44), and a movable rack (442) is slidably provided in the guide groove (441); The support frame (1) is slidably provided with locking components (5), and the support frame (1) is fixedly provided with material guide components (7) distributed in an array, the material guide component (7) comprises two guide rods (71), an adjustment component is installed between the two guide rods (71), and the adjustment component comprises a side rod 1 (74), a side rod 2 (75) and an adjustment screw (76), the side rod 1 (74) and the side rod 2 (75) are rotatably connected through an adjustment shaft (73), and the adjustment shaft (73) is rotatably connected to the adjustment screw (76).

2. The intelligent arc welding workstation based on laser vision according to claim 1 is characterized in that: A support rod (11) is fixedly connected inside the support frame (1), a guide groove (12) is provided on the support rod (11), a double-headed lead screw (17) for mounting the tooling block (6) is rotatably provided inside the guide groove (12), and a motor (10) for connecting and driving the double-headed lead screw (17) is fixedly connected to one side of the support frame (1); The support frame (1) is fixedly connected to an array of inclined rods (13), both ends of the support frame (1) are fixedly connected to slide rails (15), the support frame (1) is fixedly connected to a cylinder (16), a plurality of flat plates (14) are fixedly connected to the support frame (1), and a spring (141) is fixedly connected to the flat plates (14).

3. The intelligent arc welding workstation based on laser vision according to claim 2 is characterized in that: The conveyor frame (2) is fixedly connected to a conveyor belt (21), a transition plate (23) is fixedly connected to the conveyor frame (2), a baffle plate (22) is fixedly connected to one side of the conveyor frame (2), and two inclined rods (13) for supporting pipe materials are located at one end of the conveyor belt (21); The top frame (3) is fixedly connected with mounting frames (27) on both sides, and a cylinder three (26) is fixedly arranged on the mounting frames (27). The output end of the cylinder three (26) is fixedly connected with a material blocking plate (25) for blocking the conveying of pipe materials, and the material blocking plate (25) is located above the intersection of the conveyor belt (21) and the inclined rod (13).

4. The intelligent arc welding workstation based on laser vision according to claim 3 is characterized in that: The tooling block (6) is slidably mounted in the guide groove (12), the tooling block (6) is threadedly connected to the double-headed lead screw (17), a side support plate (62) is fixedly connected to the tooling block (6) in an inclined manner, the side support plates (62) on the two tooling blocks (6) form a V-shaped structure for fixing the pipe material, a driving belt (63) is installed on the side support plate (62), a second motor (60) is fixedly connected to the tooling block (6), a rotating roller (64) is fixedly connected to the output end of the second motor (60), and the rotating roller (64) is installed in coordination with the driving belt (63).

5. The intelligent arc welding workstation based on laser vision according to claim 2 is characterized in that: The material guide assembly (7) comprises two guide rods (71), the guide rods (71) are connected to the inclined rods (13) by bolts to form a V-shaped groove for fixing the pipe material, one end of the guide rod (71) is fixedly connected to a push rod (72), one end of the side rod (74) is rotatably provided with a slider slidably connected to one push rod (72), and one end of the side rod (75) is slidably connected to the other push rod (72); The adjusting screw (76) is threadedly connected to the plate (14), the spring (141) is sleeved on the adjusting screw (76), and the spring (141) is installed between the plate (14) and the adjusting shaft (73).

6. The intelligent arc welding workstation based on laser vision according to claim 2 is characterized in that: The locking assembly (5) comprises a vertical plate (51), one side of the vertical plate (51) is fixedly connected with a moving rod (53) for slidingly mounting on the slide rail (15), the moving rod (53) is vertically connected to the vertical plate (51), the output end of the cylinder (16) is fixedly connected to the vertical plate (51), a fixing groove (54) is provided on the vertical plate (51), a guide rod (56) is fixedly provided in the fixing groove (54), and a lead screw (55) is rotatably provided in the fixing groove (54); The vertical plate (51) is fixedly provided with a motor three (50) for connecting and driving a lead screw one (55); a mounting plate (57) is slidably connected to the guide rod one (56); the mounting plate (57) is threadedly connected to the lead screw one (55); one end of the mounting plate (57) is rotatably connected to a rotating roller (58) for abutting against the inner wall of the pipe material.

7. The intelligent arc welding workstation based on laser vision according to claim 4 is characterized in that: The top frame (3) is fixedly mounted on the support frame (1), connecting rods (301) are fixedly mounted on both sides of the top frame (3), a pressure rod (302) for fixing the pipe material is rotatably mounted on the connecting rod (301), and a welding gun (36) for arc welding is fixedly connected to the output end of the second cylinder (35); The top frame (3) is provided with a sliding groove (37), a guide bar (371) is fixedly provided in the sliding groove (37), a mounting seat (381) is slidably provided on the guide bar (371), and a sensor (39) for laser visual monitoring is rotatably mounted on the mounting seat (381).

8. The intelligent arc welding workstation based on laser vision according to claim 7 is characterized in that: A second guide rod (32) is fixedly provided on one side of the top frame (3), and a second lead screw (33) is rotatably provided on the other side. A mounting seat (34) is slidably mounted on the second guide rod (32), the mounting seat (34) is threadedly connected to the second lead screw (33), and a second cylinder (35) is fixedly mounted on the mounting seat (34); The connecting rod (301) is fixedly provided with a motor seven (303) for driving the pressure rod (302) to rotate, the welding gun (36) is located above the two side support plates (62), one end of the top frame (3) is fixedly provided with a motor four (30) for connecting and driving the lead screw two (33), and the lead screw three (38) is rotatably installed in the sliding groove (37); The top frame (3) is fixedly provided with a motor five (370) for connecting and driving the lead screw three (38), the mounting seat (381) is threadedly connected to the lead screw three (38), and a motor six (390) for rotating the sensor (39) is fixedly installed on one side of the mounting seat (381).

9. The intelligent arc welding workstation based on laser vision according to claim 7, characterized in that: The top frame (3) is fixedly connected with a material moving assembly (4) on both sides, and the material moving assembly (4) includes a mounting rod (44). Two telescopic rods (443) are fixedly connected to the bottom of the moving frame (442). The bottom of the telescopic rod (443) is fixedly connected with a cross frame (45). Two push rods (46) for moving pipe materials are fixedly connected to the cross frame (45). A right-angle block (47) is fastened to one side of the push rod (46), and the inclined surface of the right-angle block (47) faces the conveyor belt (21). Two motor frames (41) are fixedly provided on the support frame (1); The motor frame (41) is fixedly mounted with a motor eight (40), the output end of the motor eight (40) is fixedly connected with a swing rod (42), the movable frame (442) is provided with a horizontal groove (48), the horizontal groove (48) and the mounting rod (44) are vertically arranged, a matching rod (49) is slidably arranged in the horizontal groove (48), and one end of the swing rod (42) is fixedly connected with the matching rod (49).

10. A working method of a laser vision-based intelligent arc welding workstation according to any one of claims 7 to 9, characterized in that: The working method comprises the following steps: S1. Loading The pipes to be welded are transported to the conveying rack (2), the conveying rack (2) arranges the pipes to be welded in sequence and then transports them to the inclined rod (13); S2. Material transfer During the translation of the material transfer rack (442), the pipe on the inclined rod (13) is moved so that the pipe is moved to the side rod 1 (74) and the side rod 2 (75), and the locking assembly (5) is moved to push the two pipes to align; S3. Welding Process The pipeline is limited by two rotatable pressure rods (302), and after adjusting the working positions of the welding gun (36) and the sensor (39), the pipeline can be subjected to intelligent arc welding.

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