Corrugated plate welding device and method

Abstract

The invention discloses a corrugated plate welding device and method and belongs to the technical field of welding. The welding gun is arranged on the welding gun swinging mechanism, and a shielding mechanism is arranged between the welding gun and the laser vision sensor; a welding wire retaining mechanism is arranged in the welding gun, an air cooling mechanism is further arranged on the shielding mechanism and enables sparks to be far away from the detection position of the laser vision sensor, the welding gun is slidably connected with the arc-shaped sliding groove through the sliding block, the swing driving unit is used for driving the welding gun to swing along the arc-shaped sliding groove, and therefore the welding gun rotates around the gun tip, the rotating precision of the welding gun is high, and the welding gun can stably rotate. The feeding directions of the shielding mechanism and the welding gun are opposite through the connecting rod mechanism, and when the welding gun moves towards the wave crest, the shielding mechanism moves towards the wave trough, so that the shielding mechanism shields sparks generated by welding, the shielding effect is better, the light reaching the detection position of the laser vision sensor is further reduced, and the welding quality is improved. And accurate detection of the laser vision sensor is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of welding, and in particular relates to a corrugated plate welding device and a welding method. Background Art

[0002] Corrugated plate is an effective structure to increase the strength of transport containers. For example, containers or LNG storage equipment will use corrugated plate. In order to ensure the sealing of transportation, the corrugated plate must be fixed by welding. In order to improve welding efficiency and reduce labor, automatic welding is currently used to weld corrugated plates.

[0003] Automatic welding requires the weld to be inspected first, and then the welding gun moves along the trajectory of the weld to complete the welding of the corrugated plate. The stainless steel corrugated plate will form mutual reflections at the corners, and this part of the reflection will affect the detection accuracy of the laser vision sensor. Chinese utility model patent CN216594840U discloses a weld detection device. During the detection process, the weld detection device and the welding gun move synchronously along the welding direction on the corrugated plate. The laser source emits a laser beam through hole two to the corrugated plate welding position. After diffuse reflection, the laser beam passes through hole one and hole three to enter camera one and camera two respectively. Camera one and camera two feed back the collected results to the control system. After being processed by the control system, they are transmitted to the welding mechanism through data transmission to correct the welding deviation and ensure the welding quality. The weld detection device uses the two camera data collected by the system to process and correct the welding deviation.

[0004] In the actual welding process, strong light will be generated during welding. Although the strong light itself will not have a significant impact on the laser vision sensor's detection of welds, it has been found in practice that strong light will further enhance the reflection at the bend of the corrugated plate, seriously affecting the detection accuracy of the laser vision sensor. Moreover, when the corner angle of the corrugated plate is greater than 45°, the welding gun is generally required to change its posture to meet the welding process requirements. However, when the welding gun changes its posture, due to the rotation accuracy error of the welding gun and the superimposed reflection at the corner, the welding gun is prone to large errors at the corners of the corrugated plate, and this error can easily lead to welding through the corners of the corrugated plate. The above-mentioned weld detection device does not deal with the detection error directly caused by the reflection, and cannot fundamentally solve the problem of easy welding through at the corners of the corrugated plate. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a corrugated plate welding device and a welding method, which can improve the detection accuracy, effectively improve the displacement accuracy of the welding gun at the corner of the corrugated plate, and avoid the corrugated plate corner being welded through.

[0006] The technical solution adopted by the present invention to solve the technical problem is: the corrugated plate welding device is characterized by comprising a welding gun, a welding gun feeding mechanism, a welding gun swinging mechanism and a laser vision sensor, the welding gun is arranged on the welding gun swinging mechanism, the welding gun swinging mechanism is fixed on the welding gun feeding mechanism, the welding gun feeding mechanism and the laser vision sensor are separated by only one wave crest of the corrugated plate, and a shielding mechanism is arranged between the welding gun and the laser vision sensor; The welding gun swing mechanism comprises a welding gun mounting seat, a slider and a swing drive unit. The welding gun mounting seat is fixed on the welding gun feeding mechanism. An arc-shaped slide groove is provided on the welding gun mounting seat, and the arc-shaped slide groove takes the tip of the welding gun as the center of the circle. The slider is slidably connected to the arc-shaped slide groove. The welding gun is fixed on the slider. The swing drive unit is connected between the welding gun mounting seat and the welding gun. The swing drive unit drives the welding gun to swing along the arc-shaped slide groove. A welding wire stop mechanism is provided in the welding gun, which allows the welding wire to move along the welding wire transmission direction and prevents the welding wire from moving in the opposite direction; The shielding mechanism is slidably arranged along the feeding direction of the welding gun, and a connecting rod structure is connected between the welding gun mounting seat and the shielding mechanism, and the connecting rod structure makes the feeding direction of the welding gun opposite to the sliding direction of the shielding mechanism.

[0007] Preferably, rolling bearings are respectively provided on both sides of the slider, and the rolling bearings on both sides of the slider are in contact with both sides of the welding gun mounting seat; The welding gun feeding mechanism and the shielding mechanism are both fixed on a welding gun lifting mechanism.

[0008] Preferably, one end of the welding gun away from the corrugated plate is fixedly connected to a swing connecting block, and the swing driving unit is an electric push rod, one end of the electric push rod is rotatably connected to the welding gun mounting seat, and the other end of the electric push rod is rotatably connected to the swing connecting block.

[0009] Preferably, the connecting rod structure includes a transmission connecting rod and a shielding sliding seat, the shielding sliding seat is slidably set on a shielding mounting seat, the shielding mechanism is set on the shielding sliding seat, the middle part of the transmission connecting rod is rotatably connected to the shielding mounting seat, the welding gun mounting seat is slidably connected to one end of the transmission connecting rod, and the shielding sliding seat is slidably connected to the other end of the transmission connecting rod.

[0010] Preferably, the shielding mechanism is adjustable in horizontal position on the shielding sliding seat, and when the tip of the welding gun is located at the crest of the corrugated plate, one side of the shielding mechanism extends into the trough of the corrugated plate.

[0011] Preferably, the shielding mechanism comprises a shielding plate, and a side of the shielding plate close to the corrugated plate is provided with light-shielding bristles; The shielding mechanism is also equipped with an air cooling mechanism. When sparks are generated during welding, the air from the air cooling mechanism blows the sparks across the shielding mechanism and continues to move away from the welding gun. The air cooling mechanism keeps the sparks away from the detection position of the laser vision sensor, thereby preventing the sparks from causing the weld point to be misidentified, further improving the detection accuracy. The air cooling mechanism includes an air cooling shell and an air outlet roller. The air cooling shell is arranged on the side of the shielding plate away from the welding gun. The upper side of the air cooling shell is open. The air outlet roller is rotatably arranged in the air cooling shell. A plurality of air outlet holes are opened on the air outlet roller. An air supply pipe is connected to the lower part of the air cooling shell close to the shielding plate.

[0012] Preferably, the welding wire anti-retraction mechanism includes an anti-retraction spring, an anti-retraction steel ball, a steel ball retainer and a conical shell, at least three anti-retraction steel balls are arranged on the steel ball retainer, the steel ball retainer is movably arranged in the conical shell, the conical shell is fixed inside the welding gun, the anti-retraction spring is arranged between the steel ball retainer and the welding gun, the steel ball retainer and the middle part of the conical shell both have through holes for the welding wire to pass through, the anti-retraction steel ball is arranged around the welding wire, the inner diameter of the conical shell gradually increases along the welding wire transmission direction, and the anti-retraction spring pushes the steel ball retainer to move in the direction close to the conical shell.

[0013] Preferably, an automatic conductive nozzle replacement device is also provided, and a welding wire stop-retraction release mechanism is provided between the automatic conductive nozzle replacement device and the welding wire stop-retraction mechanism. After the automatic conductive nozzle replacement device is connected to the welding gun, the welding wire stop-retraction release mechanism pushes the steel ball retainer to move in the welding wire transmission direction.

[0014] Preferably, the welding gun comprises a welding gun body, a conductive tip and a nozzle, the conductive tip is fixed to the front end of the welding gun body through a conductive seat, the nozzle is sleeved on the outside of the conductive tip, and the conductive tip is connected to the conductive seat through a press-type elastic self-locking mechanism; The conductive nozzle automatic replacement device comprises a guide sleeve, a conductive nozzle pushing sleeve and a conductive nozzle replacement mounting seat, wherein the conductive nozzle pushing sleeve is slidably arranged inside the guide sleeve, the guide sleeve is slidably arranged on the conductive nozzle replacement mounting seat, and the guide sleeve and the conductive nozzle pushing sleeve are respectively connected with a sliding power unit for driving them to slide; A groove is provided in the middle of the conductive nozzle replacement mounting seat, and a manipulator is provided on one side of the groove. The manipulator is used to remove the old conductive nozzle on the conductive nozzle pushing sleeve and place a new conductive nozzle on the upper end of the conductive nozzle pushing sleeve.

[0015] Preferably, a pressure block and a pressing spring are provided in the conductive seat, the pressure block is lifted and lowered in the conductive seat, the pressing spring presses the pressure block downward, the upper end of the conductive nozzle contacts the pressure block, the upper part of the conductive nozzle is a conical surface, and the lower end of the conical surface has an inwardly concave horizontal support platform; The push-type elastic self-locking mechanism includes a rotating disk, which is unidirectionally rotatably arranged on a conductive seat. The rotating disk is provided with at least two supporting protrusions for supporting the horizontal supporting platform, and a swing block is also provided between two adjacent supporting protrusions. The swing block is rotatably connected to the rotating disk, and a limit block is provided between the swing block and the rotating disk. The limit block enables the swing block to drive the rotating disk to rotate.

[0016] A corrugated plate welding method, using the above-mentioned corrugated plate welding device, the welding method is as follows: 1) Control the welding gun to spot weld at the weld of the corrugated plate to preliminarily fix the corrugated plate on the beam; 2) The laser vision sensor scans the connection between the corrugated plate and the beam to be welded to obtain the welding trajectory of the corrugated plate; 3) The welding gun feeding mechanism drives the tip of the welding gun to move along the welding track to complete the welding of the corrugated plate; After the laser vision sensor scans in step 2), the straight line on the side of the corrugated plate to be welded is detected by the Hough line detection method. The endpoints on the straight line are the weld points. The weld points at the corners of the corrugated plate are fitted into a smooth trajectory using a cubic equation to obtain the welding trajectory. This is because the trajectory changes greatly at the corners. If there is a detection error, it is easy to miss the weld. Therefore, a cubic equation is used to fit the weld points into a smooth trajectory, which is closer to the actual welding trajectory of the corrugated plate.

[0017] The cubic equation is as follows: Where x is the horizontal coordinate of the weld point, y is the vertical coordinate of the fitted weld point, and a, b, c, and d are all constants; In step 3), when the tip of the welding gun moves to the corner of the corrugated plate, the welding gun swing mechanism drives the welding gun to rotate along the tip of the gun, so that the welding gun is perpendicular to the corrugated plate.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The welding gun in the present application is connected to the arc-shaped slide groove by sliding a slider, and a swing drive unit is used to drive the welding gun to swing along the arc-shaped slide groove, so that the welding gun rotates around the gun tip. Compared with the method of using multiple sets of connecting rods, the rotation structure of the present application is more stable, and the welding gun has high rotation accuracy, avoiding welding defects or even welding penetration caused by rotation errors.

[0019] 2. The present application utilizes a shielding mechanism to deal with the flying sparks and strong light generated by welding. The flying sparks can easily form several interference points during detection by the laser vision sensor, directly affecting the detection of the weld. The flying sparks can be shielded by the shielding mechanism, thereby ensuring the preparation for detection of the weld. In addition, the shielding mechanism also blocks the strong light generated during the welding process, and utilizes a connecting rod mechanism to make the shielding mechanism and the welding gun have opposite feeding directions. When the welding gun moves toward the crest, the shielding mechanism moves toward the trough, thereby making the shielding mechanism have better light shielding and splash shielding effects, further reducing the sparks and light reaching the detection position of the laser vision sensor, and ensuring accurate detection by the laser vision sensor.

[0020] 3. The present application uses a cubic equation to fit the welding trajectory at the corner into a smooth trajectory, so that the welding gun moves along a smooth curve, ensuring the accuracy of the movement of the welding gun, especially the movement of the welding gun at the corner of the corrugated plate is more accurate.

[0021] 4. The present application provides a welding wire stop mechanism on the welding gun. Once the welding wire position moves during rotation, a very large deviation will occur. The welding wire stop mechanism ensures that the welding wire can only be transported forward, avoiding the welding wire from retreating when the welding gun swings, thereby ensuring stable welding quality and preventing welding through. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the corrugated plate welding device.

[0023] Figure 2 for Figure 1 A partial enlarged view of point A in the middle.

[0024] Figure 3 Schematic diagram of the air cooling mechanism.

[0025] Figure 4 It is a cross-sectional view of the automatic replacement device for the welding gun and the conductive nozzle.

[0026] Figure 5 for Figure 4 A partial enlarged view of point B in the middle.

[0027] Figure 6 for Figure 5 A partial enlarged view of point D in the middle.

[0028] Figure 7 It is a three-dimensional diagram of a push-type elastic self-locking mechanism.

[0029] Figure 8 for Figure 4 A partial enlarged view of point C in the middle.

[0030] Fig. 9 Schematic diagram of weld inspection.

[0031] Fig.10 This is the weld trajectory image detected by the laser vision sensor.

[0032] Among them: 1. welding gun; 2. shielding plate; 3. laser vision sensor; 4. welding gun feeding mechanism; 5. welding gun lifting mechanism; 6. welding gun mounting seat; 7. transmission connecting rod; 8. main track; 9. main moving seat; 10. main longitudinal feeding motor; 11. main transverse feeding motor; 12. welding machine; 13. welding wire storage disk; 14. electric push rod; 15. conductive nozzle automatic replacement device; 16. slider; 17. arc block; 18. air cooling mechanism; 19. shielding sliding seat; 20. anti-retraction spring; 21. anti-retraction steel ball; 22. steel ball retainer; 23. conical shell; 24. rolling bearing; 25. air cooling shell; 26. air supply pipe; 27. air outlet drum; 28. air outlet hole; 29. ​​conductive nozzle replacement mounting seat; 30. guide sleeve; 31. Conductive nozzle push sleeve; 32. First rack; 33. First gear; 34. Second rack; 35. Second gear; 36. Claw cylinder; 37. Conductive nozzle replacement lifting cylinder; 38. Nozzle; 39. Conductive nozzle; 40. Conductive seat; 41. Pressure block; 42. Compression spring; 43. Conical surface; 44. Horizontal support platform; 45. Rotating disk; 46. Support protrusion; 47. Swing block; 48. Limit block; 49. Reset spring; 50. Welding wire; 51. Telescopic button; 52. Push rod; 53. Bottom plate; 54. Feed bin; 55. Rotating cylinder; 56. Ratchet mechanism; 57. Shielding mounting seat; 101. Welding gun body; 601. Arc slide; 100. Corrugated plate; 200. Beam; 3601. Pneumatic clamp. DETAILED DESCRIPTION

[0033] Figures 1 to 10 The best embodiment of the corrugated plate welding device is as follows: Figures 1 to 10 The present invention is further described.

[0034] Reference Figure 1-2 The corrugated plate welding device comprises a welding gun 1, a welding gun feeding mechanism 4, a welding gun swinging mechanism, a laser vision sensor 3 and an automatic conductive nozzle replacement device 15. The welding gun 1 is arranged on the welding gun swinging mechanism, the welding gun swinging mechanism is fixed on the welding gun feeding mechanism 4, the welding gun feeding mechanism 4 and the laser vision sensor 3 are arranged at intervals, and the laser vision sensor 3 is used to detect the weld track. The automatic conductive nozzle replacement device 15 is used to replace the conductive nozzle 39 of the welding gun 1.

[0035] Theoretically, the farther the distance between the laser vision sensor 3 and the welding gun 1 is, the smaller the influence of the strong light generated by welding on the weld detection accuracy is. However, if the distance between the laser vision sensor 3 and the welding gun 1 is far, first of all, it will affect the welding efficiency, and secondly, it will be more affected by the welding thermal deformation, that is: the weld point position detected by the laser vision sensor 3, as the welding gun 1 gradually approaches the weld point, the weld point is affected by the heat generated by welding, and the position changes. During welding, the actual welding position of the welding gun 1 deviates from the detected weld point, which affects the welding quality. From the perspective of the influence of welding thermal deformation, the closer the distance between the laser vision sensor 3 and the welding gun 1 is, the better. This creates a contradiction. For this reason, the corrugated plate welding device sets the interval between the laser vision sensor 3 and the welding gun 1 to have one and only one crest of the corrugated plate 100, which not only reduces the influence of the welding strong light on the detection accuracy, but also reduces the influence of welding thermal deformation.

[0036] In order to further reduce the influence of low welding glare on the detection accuracy, a shielding plate 2 is provided between the welding gun 1 and the laser vision sensor 3 in this embodiment. In addition, in order to ensure a better shading effect, the shielding mechanism in this embodiment is slidably arranged along the feeding direction of the welding gun 1, and a connecting rod structure is connected between the welding gun mounting seat 6 and the shielding mechanism, and the connecting rod structure makes the feeding direction of the welding gun 1 opposite to the sliding direction of the shielding mechanism. When the tip of the welding gun 1 is located at the crest of the corrugated plate 100, one side of the shielding plate 2 extends into the trough of the corrugated plate 100, and the shading effect is better.

[0037] The welding gun 1 will produce sparks during the welding process. Part of the sparks will be blocked on the side of the shielding plate 2 close to the welding gun 1, and the other part of the sparks will pass over the shielding plate 2. When the sparks that pass over the shielding plate 2 fall in the detection range of the laser vision sensor 3, the sparks are detected to form a number of interference points. A small number of interference points will not affect the detection of the weld trajectory, but when a large number of interference points are mixed with the weld points detected by the laser vision sensor 3, it will have a greater impact on the detection of the weld trajectory and directly affect the welding quality. For this reason, this embodiment is also provided with an air cooling mechanism 18 on the shielding plate 2, and the air outlet of the air cooling mechanism 18 blows the sparks that pass over the shielding plate 2 to continue to move in the direction away from the welding gun 1. The air cooling mechanism 18 first cools the sparks from a molten state to a solid state. The light generated by the molten sparks is also a factor that affects the reflection, but after cooling, it no longer affects the reflection. Secondly, the air cooling mechanism 18 makes the sparks that pass over the baffle plate 2 fly farther, and keeps the sparks away from the detection position of the laser vision sensor 3, thereby preventing the sparks from causing the weld point to be misidentified, further improving the detection accuracy.

[0038] The welding gun feeding mechanism 4 and the shielding plate 2 are both fixed on a welding gun lifting mechanism 5. The welding gun lifting mechanism 5 is fixed on a bottom plate 53, and the bottom plate 53 is slidably set on the main moving seat 9, and the main moving seat 9 is slidably set on the main track 8. A main transverse feeding motor 11 is provided between the main track 8 and the main moving seat 9, and a main longitudinal feeding motor 10 is provided between the main moving seat 9 and the bottom plate. The main longitudinal feeding motor 10 drives the bottom plate 53 to move in a direction close to or away from the corrugated plate 100, and the main transverse feeding motor 11 drives the main moving seat 9 to move in a direction parallel to the corrugated plate 100. The welding machine 12 is fixed on the bottom plate 53, and a welding wire storage disk 13 is provided on one side of the welding machine 12. The welding wire 50 is coiled on the welding wire storage disk 13, and the welding wire 50 enters the welding gun 1 through the wire feeding mechanism.

[0039] The welding gun swing mechanism includes a welding gun mounting seat 6, a slider 16 and a swing drive unit. The welding gun mounting seat 6 is fixed on the welding gun feeding mechanism 4. An arc-shaped slide groove 601 is provided on the welding gun mounting seat 6, and the arc-shaped slide groove 601 takes the tip of the welding gun 1 as the center. The slider 16 is slidably connected to the arc-shaped slide groove 601. The welding gun 1 is fixed on the slider 16. The swing drive unit is connected between the welding gun mounting seat 6 and the welding gun 1. The swing drive unit drives the welding gun 1 to swing along the arc-shaped slide groove 601; rolling bearings 24 are respectively provided on both sides of the slider 16. The rolling bearings 24 on both sides of the slider 16 are in contact with both sides of the welding gun mounting seat 6. The slider 16 can be limited vertically by the rolling bearings 24 to prevent the welding gun 1 from having a large position error during the swinging process.

[0040] In this embodiment, an arc block 17 is provided on the lower side of the slider 16, and rolling bearings 24 are provided on both sides of the arc block 17. The arc block 17 contacts the welding gun mounting seat 6 through the rolling bearings 24 to ensure stable swing of the slider 16 and the welding gun 1.

[0041] One end of the welding gun 1 away from the corrugated plate 100 is fixedly connected with a swing connection block, and the swing driving unit is an electric push rod 14, one end of the electric push rod 14 is rotatably connected to the welding gun mounting seat 6, and the other end of the electric push rod 14 is rotatably connected to the swing connection block.

[0042] A shading brush is provided on one side of the shielding plate 2 close to the corrugated plate 100. The shading brush can block the strong light generated during welding without generating much resistance to the movement of the welding gun 1 and affecting the stability of the movement of the welding gun 1, thereby ensuring reliable welding quality.

[0043] The shielding plate 2 is slidably arranged along the feeding direction of the welding gun 1, and a connecting rod structure is connected between the welding gun mounting seat 6 and the shielding plate 2, and the connecting rod structure makes the feeding direction of the welding gun 1 opposite to the sliding direction of the shielding plate 2. The connecting rod structure includes a transmission connecting rod 7 and a shielding sliding seat 19, the shielding sliding seat 19 is slidably arranged on a shielding mounting seat 57, the shielding plate 2 is arranged on the shielding sliding seat 19, the middle part of the transmission connecting rod 7 is rotatably connected to the shielding mounting seat 57, the welding gun mounting seat 6 is slidably connected to one end of the transmission connecting rod 7, and the shielding sliding seat 19 is slidably connected to the other end of the transmission connecting rod 7.

[0044] The horizontal position of the shielding plate 2 on the shielding sliding seat 19 is adjustable. In this embodiment, a connecting groove parallel to the corrugated plate 100 is provided on the shielding sliding seat 19. The shielding plate 2 is connected to the shielding sliding seat 19 through the connecting groove. The horizontal position of the shielding plate 2 at the upper end of the shielding sliding seat 19 can be adjusted through the connecting groove, so that the shielding plate 2 can be adjusted to a position corresponding to the welding gun 1, that is: when the gun tip of the welding gun 1 is located at the crest of the corrugated plate 100, one side of the shielding plate 2 extends into the trough of the corrugated plate 100.

[0045] See also Figure 3 The air cooling mechanism 18 in this embodiment includes an air cooling shell 25 and an air outlet roller 27. The air cooling shell 25 is arranged on the side of the shielding plate 2 away from the welding gun 1. The upper side of the air cooling shell 25 is open. The air outlet roller 27 is rotatably arranged in the air cooling shell 25. A plurality of air outlet holes 28 are opened on the air outlet roller 27. The lower part of the air cooling shell 25 close to the shielding plate 2 is connected to an air supply pipe 26.

[0046] A partition is provided in the middle of the bottom of the air-cooled shell 25. The partition allows the air sent into the air-cooled shell 25 by the air supply pipe 26 to push the air outlet roller 27 to rotate clockwise, and the air outlet holes 28 on the air outlet roller 27 also exhaust air outward, so that the exhausted air flow is directed to the upper right, so that sparks will not fall into the detection area of ​​the laser vision sensor 3, and will not affect the protective gas during welding.

[0047] See also Figure 4-5 The welding gun 1 includes a welding gun body 101, a conductive tip 39 and a nozzle 38. The conductive tip 39 is fixed to the front end of the welding gun body 101 through a conductive seat 40. The nozzle 38 is sleeved on the outside of the conductive tip 39. The conductive tip 39 is connected to the conductive seat 40 through a press-type elastic self-locking mechanism; a pressure block 41 and a clamping spring 42 are arranged in the conductive seat 40. The pressure block 41 is lifted and lowered in the conductive seat 40. The clamping spring 42 presses the pressure block 41 downward. The upper end of the conductive tip 39 contacts the pressure block 41. The upper part of the conductive tip 39 is a conical surface 43, and the lower end of the conical surface 43 has an inwardly concave horizontal support platform 44.

[0048] See also Figure 6-7The conductive nozzle automatic replacement device 15 includes a guide sleeve 30, a conductive nozzle pushing sleeve 31 and a conductive nozzle replacement mounting seat 29. The conductive nozzle pushing sleeve 31 is slidably arranged inside the guide sleeve 30, and the guide sleeve 30 is slidably arranged on the conductive nozzle replacement mounting seat 29. The guide sleeve 30 and the conductive nozzle pushing sleeve 31 are respectively connected with a sliding power unit for driving them to slide. Specifically, a first rack 32 is arranged on the side of the guide sleeve 30, and a second rack 34 is arranged on the side of the lower end of the conductive nozzle pushing sleeve 31 extending out of the guide sleeve 30. The first rack 32 is meshed with a first gear 33, and the first gear 33 is connected to a first sleeve lifting motor. The second rack 34 is meshed with a second gear 35, and the second gear 35 is connected to a second sleeve lifting motor.

[0049] A groove is provided in the middle of the conductive nozzle replacement mounting seat 29, and a manipulator is provided on one side of the groove. The manipulator is used to remove the old conductive nozzle 39 on the conductive nozzle pushing sleeve 31 and place the new conductive nozzle 39 on the upper end of the conductive nozzle pushing sleeve 31. The manipulator in this embodiment includes a clamping claw cylinder 36, a conductive nozzle replacement lifting cylinder 37 and a rotating cylinder 55. The rotating cylinder 55 is relatively fixed to the conductive nozzle replacement mounting seat 29. The piston rod end of the clamping claw cylinder 36 is provided with a pneumatic clamping claw 3601. The rotating cylinder 55 is connected to the lower part of the conductive nozzle replacement lifting cylinder 37. The clamping claw cylinder 36 is arranged on the conductive nozzle replacement lifting cylinder 37. When the conductive nozzle pushing sleeve 31 moves the old conductive nozzle 39 to the groove, the clamping claw cylinder 36 drives the pneumatic clamping claw 3601 to extend into the groove and clamp the conductive nozzle 39, and then the old conductive nozzle 39 is sent out, and then a new conductive nozzle 39 is clamped from the feeding bin 54 and placed on the upper part of the conductive nozzle pushing sleeve 31.

[0050] The push-type elastic self-locking mechanism includes a rotating disk 45, which is unidirectionally rotatably arranged on the conductive seat 40 through a ratchet mechanism 56. The rotating disk 45 is provided with at least two supporting protrusions 46 for supporting the horizontal support platform 44, and a swing block 47 is provided between two adjacent supporting protrusions 46. The swing block 47 is rotatably connected to the rotating disk 45, and a limit block 48 is provided between the swing block 47 and the rotating disk 45. The limit block 48 enables the swing block 47 to drive the rotating disk 45 to rotate. A reset spring 49 is provided between the rotating disk 45 and the swing block 47.

[0051] The conductive nozzle 39 is subjected to very little force during operation, and the rotating disk 45 can provide sufficient support force to firmly fix the conductive nozzle 39. In order to facilitate the installation of the push-type elastic self-locking mechanism, the size of the nozzle 38 in this embodiment needs to be appropriately increased to have sufficient installation space. The front end of the nozzle 38 is thinner to meet the needs of welding and gas protection.

[0052] See also Figure 8A welding wire stop mechanism is provided in the welding gun body 101, which allows the welding wire 50 to move forward and blocks the welding wire 50 from moving in the opposite direction. The welding gun 1 needs to rotate at the corner of the corrugated plate 100. Once the position of the welding wire 50 moves during the rotation, a very large deviation will occur. The welding wire stop mechanism ensures that the welding wire 50 can only be transported forward, preventing the welding wire 50 from retreating when the welding gun 1 swings, ensuring stable welding quality, and preventing welding through.

[0053] Specifically, the welding wire anti-retraction mechanism includes an anti-retraction spring 20, an anti-retraction steel ball 21, a steel ball retainer 22 and a conical shell 23. At least three anti-retraction steel balls 21 are arranged on the steel ball retainer 22. The steel ball retainer 22 is movably arranged in the conical shell 23. The conical shell 23 is fixed inside the welding gun 1. The anti-retraction spring 20 is arranged between the steel ball retainer 22 and the welding gun 1. The steel ball retainer 22 and the middle part of the conical shell 23 both have a through hole for the welding wire 50 to pass through. The anti-retraction steel ball 21 is arranged around the welding wire 50. The inner diameter of the conical shell 23 gradually increases along the transmission direction of the welding wire 50. The anti-retraction spring 20 pushes the steel ball retainer 22 to move in the direction close to the conical shell 23. The wire feeding mechanism feeds the welding wire 50 on the welding wire 50 storage disk to the welding gun 1, and the welding wire 50 passes through the conical shell 23 and the steel ball retainer 22 in sequence. When the welding wire 50 passes through the steel ball retainer 22, it passes between multiple steel balls. When the welding wire 50 passes through the gap between the steel balls, it pushes the stop spring 20 to be compressed, and the stop spring 20 squeezes the steel ball retainer 22. Since the inner wall of the conical shell 23 is conical, the steel balls press the welding wire 50. Therefore, when the welding wire 50 moves to the right, it will encounter very large resistance, making it impossible for the welding wire 50 to retreat. The welding wire 50 can only be fed to the left, but cannot retreat. In this way, the welding wire 50 can be prevented from retreating when the welding gun 1 swings, thereby ensuring stable welding quality.

[0054] Since the corrugated plate welding device is provided with an automatic conductive tip replacement device 15, when the conductive tip 39 is replaced, the welding wire 50 extending out of the conductive tip 39 is easily deformed, affecting the subsequent welding quality. The welding wire stopping mechanism in the welding gun body 101 makes it impossible for the wire feeding mechanism to withdraw the welding wire 50, so a welding wire stopping release mechanism is provided between the automatic conductive tip replacement device 15 and the welding wire stopping mechanism. After the automatic conductive tip replacement device 15 is connected to the welding gun 1, the welding wire stopping release mechanism pushes the steel ball retaining frame 22 to move in the transmission direction of the welding wire 50.

[0055] The welding wire stop-retraction release mechanism in this embodiment includes a push rod 52, a through hole is opened at the end of the conical shell 23 with a smaller diameter, a telescopic button 51 extending out of the through hole is provided on the steel ball retaining frame 22, the push rod 52 is slidably arranged in the welding gun body 101, and the end of the push rod 52 close to the telescopic button 51 has a wedge surface, and the other end extends out of the welding gun body 101. After the guide sleeve 30 is sleeved on the outside of the nozzle 38, the sleeve squeezes the push rod 52, and the push rod 52 pushes the steel ball retaining frame 22 to squeeze the stop-retraction spring 20, so that the steel ball can no longer squeeze the welding wire 50, and the wire feeding mechanism can withdraw the welding wire 50, so that the welding wire 50 is withdrawn from the conductive nozzle 39 to the conductive seat 40, so as to avoid damage to the welding wire 50 when replacing the conductive nozzle 39.

[0056] When replacing the conductive nozzle 39, first, the first gear 33 drives the guide sleeve 30 to be sleeved on the outside of the nozzle 38 and continue to move upward, and the push rod 52 squeezes the telescopic button 51, so that the steel ball retainer 22 squeezes the stop spring 20. At this time, the wire feeding mechanism draws the welding wire 50 from the conductive nozzle 39 into the conductive seat 40, and then the second gear 35 drives the conductive nozzle to push the sleeve 31 to slide upward, and the upper end of the conductive nozzle push sleeve 31 is sleeved on the lower part of the conductive nozzle 39 and continues to push upward, and the conductive nozzle 39 squeezes the pressing block 41, and at the same time the conical surface 43 touches the swing block 47, driving the rotating disk 45 to rotate, and supporting it on the horizontal The supporting protrusion 46 on the lower side of the supporting platform 44 leaves the supporting position after rotating with the rotating disk 45, and the compression spring 42 causes the conductive nozzle 39 to withdraw from the conductive seat 40. During the downward movement of the conductive nozzle 39, the supporting protrusion 46 will no longer be touched. Although the conductive nozzle 39 will touch the swing block 47, the swing block 47 will not affect the downward movement of the conductive nozzle 39. When the conductive nozzle pushes the sleeve 31 to push the new conductive nozzle 39 to move upward, the conductive nozzle 39 will drive the rotating disk 45 to rotate through the swing block 47, and rotate the next supporting protrusion 46 to the supporting position, thereby completing the fixation of the new conductive nozzle 39 again.

[0057] This embodiment also provides a method for welding a corrugated plate using the above-mentioned corrugated plate welding device. The welding method is as follows: 1) Control the welding gun 1 to spot weld at the weld of the corrugated plate 100 to preliminarily fix the corrugated plate 100 on the beam 200; 2) See Figure 9-10 , the laser vision sensor 3 scans the connection between the corrugated plate 100 and the beam 200 to be welded. In the figure, line a is the detected side of the corrugated plate 100, and line b is the detected side of the beam 200. The red dots at both ends of line a and edge strip b are the endpoints of the corresponding sides currently detected, and the dotted line composed of yellow dots is the straight line fitted by the Hough straight line detection method. After scanning, the laser vision sensor 3 detects the straight line of the side to be welded of the corrugated plate 100 through the Hough straight line detection method. The left endpoint on line a is the weld point. The weld points of each frame of the image can be pieced together to get Fig.10 The red weld track shown is Fig.10 The weld seam trajectory detected in the method is filtered, and the weld seam points at the corners of the corrugated plate 100 are fitted into a smooth trajectory using a cubic equation to obtain a final welding trajectory.

[0058] The cubic equation is as follows: Where x is the horizontal coordinate of the weld point, y is the vertical coordinate of the fitted weld point, and a, b, c, and d are all constants.

[0059] 3) The welding gun feeding mechanism 4 drives the gun tip of the welding gun 1 to move along the welding track to complete the welding of the corrugated plate 100; when the gun tip of the welding gun 1 moves to the corner of the corrugated plate 100, the welding gun swinging mechanism drives the welding gun 1 to rotate along the gun tip to make the welding gun 1 perpendicular to the corrugated plate 100.

[0060] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A corrugated plate welding device, characterized in that: The device comprises a welding gun (1), a welding gun feeding mechanism (4), a welding gun swinging mechanism and a laser vision sensor (3), wherein the welding gun (1) is arranged on the welding gun swinging mechanism, the welding gun swinging mechanism is fixed on the welding gun feeding mechanism (4), the welding gun feeding mechanism (4) and the laser vision sensor (3) are separated by only one wave crest of a corrugated plate (100), and a shielding mechanism is provided between the welding gun (1) and the laser vision sensor (3); The welding gun swing mechanism comprises a welding gun mounting seat (6), a slider (16) and a swing drive unit, the welding gun mounting seat (6) is fixed on the welding gun feeding mechanism (4), an arc-shaped slide groove (601) is provided on the welding gun mounting seat (6), and the arc-shaped slide groove (601) takes the tip of the welding gun (1) as the center of the circle, the slider (16) is slidably connected to the arc-shaped slide groove (601), the welding gun (1) is fixed on the slider (16), the swing drive unit is connected between the welding gun mounting seat (6) and the welding gun (1), and the swing drive unit drives the welding gun (1) to swing along the arc-shaped slide groove (601); A welding wire stopping mechanism is provided in the welding gun (1), the welding wire stopping mechanism allows the welding wire (50) to move forward and blocks the welding wire (50) from moving in the reverse direction; The shielding mechanism is slidably arranged along the feeding direction of the welding gun (1), and a connecting rod structure is connected between the welding gun mounting seat (6) and the shielding mechanism, and the connecting rod structure makes the feeding direction of the welding gun (1) opposite to the sliding direction of the shielding mechanism.

2. The corrugated sheet welding device according to claim 1, characterized in that: One end of the welding gun (1) away from the corrugated plate (100) is fixedly connected to a swing connection block, and the swing drive unit is an electric push rod (14), one end of the electric push rod (14) is rotatably connected to the welding gun mounting seat (6), and the other end of the electric push rod (14) is rotatably connected to the swing connection block.

3. The corrugated sheet welding device according to claim 1, characterized in that: The connecting rod structure comprises a transmission connecting rod (7) and a shielding sliding seat (19); the shielding sliding seat (19) is slidably arranged on a shielding mounting seat (57); the shielding mechanism is arranged on the shielding sliding seat (19); the middle portion of the transmission connecting rod (7) is rotatably connected to the shielding mounting seat (57); the welding gun mounting seat (6) is slidably connected to one end of the transmission connecting rod (7); and the shielding sliding seat (19) is slidably connected to the other end of the transmission connecting rod (7).

4. The corrugated sheet welding device according to claim 3, characterized in that: The horizontal position of the shielding mechanism on the shielding sliding seat (19) is adjustable, and when the tip of the welding gun (1) is located at the crest of the corrugated plate (100), one side of the shielding mechanism extends into the trough of the corrugated plate (100).

5. The corrugated sheet welding device according to claim 1 or 3, characterized in that: The shielding mechanism comprises a shielding plate (2), and a side of the shielding plate (2) close to the corrugated plate (100) is provided with light-shielding bristles; The shielding mechanism is also provided with an air cooling mechanism (18). When sparks are generated during welding, the air discharged by the air cooling mechanism (18) blows the sparks past the shielding mechanism and continues to move in a direction away from the welding gun (1); The air cooling mechanism (18) comprises an air cooling shell (25) and an air outlet roller (27). The air cooling shell (25) is arranged on a side of the shielding plate (2) away from the welding gun (1). The upper side of the air cooling shell (25) is open. The air outlet roller (27) is rotatably arranged in the air cooling shell (25). A plurality of air outlet holes (28) are formed on the air outlet roller (27). A side of the lower part of the air cooling shell (25) close to the shielding plate (2) is connected to an air supply pipe (26).

6. The corrugated sheet welding device according to claim 1, characterized in that: The welding wire retraction prevention mechanism comprises a retraction prevention spring (20), a retraction prevention steel ball (21), a steel ball holder (22) and a conical shell (23); at least three retraction prevention steel balls (21) are arranged on the steel ball holder (22); the steel ball holder (22) is movably arranged in the conical shell (23); the conical shell (23) is fixed inside the welding gun (1); the retraction prevention spring (20) is arranged between the steel ball holder (22) and the welding gun (1); the steel ball holder (22) and the conical shell (23) both have a through hole in the middle for the welding wire (50) to pass through; the retraction prevention steel ball (21) is arranged around the welding wire (50); the inner diameter of the conical shell (23) gradually increases along the transmission direction of the welding wire (50); and the retraction prevention spring (20) pushes the steel ball holder (22) to move in a direction close to the conical shell (23).

7. The corrugated sheet welding device according to claim 6, characterized in that: An automatic conductive tip replacement device (15) is also provided, and a welding wire stop-retraction release mechanism is provided between the automatic conductive tip replacement device (15) and the welding wire stop-retraction mechanism. After the automatic conductive tip replacement device (15) is connected to the welding gun (1), the welding wire stop-retraction release mechanism pushes the steel ball retainer (22) to move in the direction of conveying the welding wire (50).

8. The corrugated sheet welding device according to claim 7, characterized in that: The welding gun (1) comprises a welding gun body (101), a conductive tip (39) and a nozzle (38); the conductive tip (39) is fixed to the front end of the welding gun body (101) via a conductive seat (40); the nozzle (38) is sleeved on the outside of the conductive tip (39); and the conductive tip (39) is connected to the conductive seat (40) via a press-type elastic self-locking mechanism; The conductive nozzle automatic replacement device (15) comprises a guide sleeve (30), a conductive nozzle pushing sleeve (31) and a conductive nozzle replacement mounting seat (29), wherein the conductive nozzle pushing sleeve (31) is slidably arranged inside the guide sleeve (30), the guide sleeve (30) is slidably arranged on the conductive nozzle replacement mounting seat (29), and the guide sleeve (30) and the conductive nozzle pushing sleeve (31) are respectively connected to a sliding power unit for driving them to slide; A groove is provided in the middle of the conductive nozzle replacement mounting seat (29), and a manipulator is provided on one side of the groove. The manipulator is used to remove the old conductive nozzle (39) on the conductive nozzle pushing sleeve (31) and place a new conductive nozzle (39) on the upper end of the conductive nozzle pushing sleeve (31).

9. The corrugated sheet welding device according to claim 8, characterized in that: A pressure block (41) and a pressing spring (42) are provided in the conductive seat (40); the pressure block (41) is lifted and lowered in the conductive seat (40); the pressing spring (42) presses the pressure block (41) downward; the upper end of the conductive nozzle (39) contacts the pressure block (41); the upper part of the conductive nozzle (39) is a conical surface (43); and the lower end of the conical surface (43) has an inwardly concave horizontal support platform (44); The push-type elastic self-locking mechanism comprises a rotating disk (45), the rotating disk (45) being unidirectionally rotatably arranged on the conductive seat (40), the rotating disk (45) being provided with at least two supporting protrusions (46) for supporting the horizontal supporting platform (44), a swing block (47) being provided between two adjacent supporting protrusions (46), the swing block (47) being rotatably connected to the rotating disk (45), and a limit block (48) being provided between the swing block (47) and the rotating disk (45), the limit block (48) enabling the swing block (47) to drive the rotating disk (45) to rotate.

10. A method for welding a corrugated plate, characterized in that: Using the corrugated plate welding device according to any one of claims 1 to 9, the welding method is as follows: 1) controlling the welding gun (1) to perform spot welding at the weld of the corrugated plate (100) to preliminarily fix the corrugated plate (100) on the beam (200); 2) The laser vision sensor (3) scans the connection between the corrugated plate (100) and the beam (200) to be welded, and obtains the welding track of the corrugated plate (100); 3) The welding gun feeding mechanism (4) drives the tip of the welding gun (1) to move along the welding track to complete the welding of the corrugated plate (100); After the laser vision sensor (3) scans in step 2), the straight line of the side to be welded of the corrugated plate (100) is detected by the Hough straight line detection method, and the endpoints on the straight line are the weld points. The weld points at the corners of the corrugated plate are fitted into a smooth trajectory using a cubic equation to obtain a welding trajectory; The cubic equation is as follows: Where x is the horizontal coordinate of the weld point, y is the vertical coordinate of the fitted weld point, and a, b, c, and d are all constants; In step 3), when the tip of the welding gun (1) moves to the corner of the corrugated plate (100), the welding gun swing mechanism drives the welding gun (1) to rotate along the tip of the gun, so that the welding gun (1) is perpendicular to the corrugated plate (100).

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