Automatic welding device and method for hollow balls

Abstract

The invention discloses an automatic hollow ball welding device and method, and relates to the technical field of welding, the automatic hollow ball welding device comprises a laser fine welding assembly which is slidably connected in a longitudinal high-precision electromagnetic guide rail and is used for welding a hollow ball according to the monitoring of a welding seam detection sensor under the cooperation of a hollow ball welding calibration regulation and control assembly when the hollow ball is welded; self-adaptive calibration of the shapes of the hollow balls is achieved, it is ensured that the butt joint accuracy of the two hollow balls reaches an extremely high level, the whole device can accurately calibrate the shapes and sizes of the hollow balls in the butt joint and welding process of the hollow balls, position changes of the hollow balls are compensated in real time, the problem that axial or radial deviation is likely to occur in the welding process is solved, and the welding quality of the hollow balls is improved. The welding quality stability and reliability are improved, the position and angle of the laser welding head are adjusted in a self-adaptive mode under the cooperation of the laser fine welding assembly, so that welding deviation is corrected, and the welding quality stability and consistency are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a hollow ball automatic welding device and method. Background Art

[0002] In recent years, large-span spatial structures have been widely used in various large-scale stadiums, hangars, conference and exhibition centers, various industrial plants and other buildings. As a major development in the field of architecture in the new century, large-span modern spatial structures have gradually stood out from traditional structures with their beautiful structural forms and convenient use functions, and are highly favored. Welded hollow ball nodes have the longest application history and have the advantages of simple structure, convenient connection, and no node eccentricity, so they have been widely used. Welded hollow balls have clear force transmission, simple structure, beautiful shape, convenient connection and strong applicability. They are the most widely used components in urban structures. Since the sphere has no directionality, it can be connected with rods in any direction. When there are many intersecting rods, its advantages are more prominent.

[0003] At present, in the welding process of hollow balls, two hollow balls are usually clamped and butt-jointed by fixing clamps at both ends, and then welded by hand welding or other methods. However, due to the special shape of the hollow balls and the curved surface of the hollow balls, it is difficult to ensure that the contact surfaces of the two balls are completely fitted when butt-jointed. Unlike plane welding, there is no clear reference plane on the surface of the ball. Even if a clamp is used for fixing, it is difficult to ensure that the weld position is on the ideal circumferential butt joint line, which makes it easy to have axial or radial displacement during welding, affecting the welding quality. Therefore, it is necessary to propose an automatic welding device and method for hollow balls. Summary of the invention

[0004] The object of the present invention is to provide an automatic welding device and method for hollow balls, so as to solve the problem proposed in the above-mentioned background technology that in the welding process of hollow balls, two hollow balls are usually clamped and butt-jointed by fixing clamps at both ends, and then welded by hand welding or other methods. However, due to the special shape of the hollow balls and the curved surface of the hollow balls, it is difficult to ensure that the contact surfaces of the two balls are completely fitted together during butt-jointing. Different from plane welding, there is no clear reference plane on the surface of the ball. Even if a clamp is used for fixing, it is difficult to ensure that the weld position is on the ideal circumferential butt joint line, resulting in axial or radial displacement during welding, which affects the welding quality.

[0005] To achieve the above object, the present invention provides the following technical solution: a hollow ball automatic welding device, comprising: The laser precision welding assembly is slidably connected inside the longitudinal high-precision electromagnetic guide rail and is used to provide real-time feedback and adjust the strength and concentration of the laser welding head installed at the front end according to the monitoring of the welding seam detection sensor when welding hollow spheres; The hollow ball welding calibration and control component is slidably connected to the top of the electromagnetic guide rail of the chassis, and is used for real-time calibration and control of the welding accuracy during and after the docking of the hollow balls on the left and right sides; The hollow ball clamping and docking assembly is fixedly mounted on the surface of the carrier plate and symmetrically mounted on the left and right ends of the top wall surface of the carrier plate. It is used to clamp and adsorb the hollow spheres that form a uniform feeding speed, and then turn them to docking, so as to facilitate the subsequent laser welding head to perform welding operations; The automatic material guiding structure is installed at the left and right ends of the supporting frame and is used to automatically convey the hollow balls for subsequent butt welding.

[0006] Preferably, the hollow ball welding calibration and control component includes: A drive control frame, a gear transmission group, a photoelectric sensor and an output regulating shaft. A displacement positioning sliding saddle is installed at the bottom of the drive control frame. The side end of the displacement positioning sliding saddle is slidably connected with a vertical axis guide rail. The vertical axis guide rail is located at the top end of the electromagnetic guide rail of the base frame and is slidably connected. The gear transmission group is installed inside the drive control frame and drives the output regulating shaft to form gear meshing control.

[0007] Preferably, the side end of the output control shaft is sleeved with a main elastic adjustment scissor-type arc plate, and the left and right ends of the main elastic adjustment scissor-type arc plate are hinged with multiple groups of elastic scissor-type arc plates, and outer arc plates are installed on the outer side ends of the multiple groups of elastic scissor-type arc plates. An adjustment track arc groove is opened on the surface of the outer arc plate, and the multiple groups of elastic scissor-type arc plates are located inside the adjustment track arc groove and are slidably connected.

[0008] Preferably, the top end of the outer arc plate is fastened with a docking piece, and multiple groups of micro-actuators are evenly and equidistantly installed on the surface of multiple groups of the elastic scissor-type arc plates and the main elastic adjustment scissor-type arc plates. The side ends of the multiple groups of micro-actuators are installed with flexible contact ends through built-in contact monitoring sensors. The multiple groups of micro-actuators are used to drive the flexible contact ends to automatically calibrate the docking accuracy in terms of size and shape when docking with the hollow ball, and adjust the clamping force and clamping position.

[0009] Preferably, the laser precision welding assembly comprises: A sliding connection seat, a rotation control structure, a fine-tuning driver and a semi-arc electromagnetic guide rail. The sliding connection seat is located in the internal sliding connection of the longitudinal high-precision electromagnetic guide rail. The rotation control structure drives the fine-tuning driver at the bottom to be fastened and connected at the side end of the sliding connection seat. The semi-arc electromagnetic guide rail is installed on the fine-tuning driver, and the semi-arc electromagnetic guide rail is internally slidably connected with a pneumatic lifting guide rod. A laser fixing frame is installed on the side of the pneumatic lifting guide rod, and the laser welding head is installed at the side end of the laser fixing frame.

[0010] Preferably, a laser generation control adjuster is installed on the outer peripheral side of the laser welding head, a connecting frame is installed on the bottom of the pneumatic lifting guide rod, multiple groups of laser focus calibrators are symmetrically installed on the left and right ends of the connecting frame, and laser focusing point generators are installed on the bottom of the multiple groups of laser focus calibrators. A micro-controller is fastened to the side of the connecting frame, an electrically-controlled rotation adjustment structure is installed on the bottom of the micro-controller, and two groups of weld prediction contact rods are installed inside the electrically-controlled rotation adjustment structure.

[0011] Preferably, the hollow ball clamping and docking assembly comprises: An adsorption driver, a transverse drive electromagnetic guide rail, a control negative pressure regulator, an adsorption clamping ball rack and a control motor, wherein the adsorption driver is installed inside the bottom end of the control negative pressure regulator for adsorption and clamping hollow balls, and the control motor is installed on the side of the shell of the control negative pressure regulator through a hoop frame, and the bottom output end of the control motor is connected to a first gear, and the side end of the first gear is meshingly connected to a second gear, and the second gear is sleeved on the outside of the negative pressure connecting pipe at the top end of the adsorption clamping ball rack for driving the adsorption clamping ball rack to form a circular trajectory for rotation adjustment, and the transverse drive electromagnetic guide rail is installed on the top side end surface of the bearing plate, and the top end of the transverse drive electromagnetic guide rail is slidably connected to a positioning sliding seat, and a position sensor is installed on the side end of the positioning sliding seat, and a drive motor is installed on the top side end of the positioning sliding seat, and the output end of the drive motor is connected to a right-angle rotation connection structure.

[0012] Preferably, a transverse high-precision electromagnetic guide rail is installed on the top side end of the carrier body, and the top end of the transverse high-precision electromagnetic guide rail is internally slidably connected with a vertical high-precision electromagnetic guide rail, and the longitudinal high-precision electromagnetic guide rail is located at the side end of the vertical high-precision electromagnetic guide rail and is internally slidably connected, an input end is opened on the surface of the carrier body, and the bottom of the input end is connected to a flexible receiving guide groove, and an external clamping mechanical arm is installed on the side end of the input end for placing the welded hollow ball from the input end into the flexible receiving guide groove, and the bottom of the flexible receiving guide groove is connected to a conveying trough frame.

[0013] Preferably, a marking classifier is installed on the top of the side end of the conveying trough frame, the left and right output ends of the conveying trough frame are respectively connected to the good product output guide trough and the defective product output guide trough, the bottom of the automatic material guiding structure is fastened with the supporting structure, the side end of the automatic material guiding structure is connected with a hollow ball guide track, the top of the side end of the supporting frame is fastened with the adjusting support frame, and the side end of the adjusting support frame is installed with a real-time display end of the welding model.

[0014] A method for a hollow ball automatic welding device comprises the following steps: S1. First, the hollow ball is transported to the vicinity of the hollow ball clamping and docking assembly through the hollow ball guide track of the automatic material guide structure, and the hollow ball is adsorbed on the adsorption clamping ball rack by the hollow ball clamping and docking assembly. The driving motor drives the adsorption clamping ball rack to rotate at a 90° angle, so that the two hollow balls to be welded are initially aligned; S2. Then the hollow ball welding calibration and control component starts to work, so that the displacement positioning sliding saddle slides on the vertical axis guide rail, driving the entire component close to the hollow ball docking point, so that the gear transmission group drives the output control shaft to rotate, thereby deforming the main elastic adjustment shear arc plate and the multiple sets of elastic shear arc plates and outer arc plates connected thereto, and using the docking parts on the outer arc plate to contact the hollow ball. At the same time, the micro-actuator adjusts the clamping force and position according to the feedback of the contact monitoring sensor built into the flexible contact end, accurately calibrates the accuracy of the hollow ball docking, ensures that the weld position is accurately aligned, and can compensate for position deviations caused by factors such as thermal deformation in real time during the welding process; S3. Secondly, the laser fine welding assembly starts the welding operation, and uses the rotation control structure and the fine-tuning driver to adjust the angle and position of the laser welding head. At the same time, the control motor (402) is started, and through the meshing of the first gear and the second gear, the adsorption and clamping ball rack, that is, the adsorbed and clamped hollow ball after docking, is driven to rotate 360 ​​degrees. At the same time, the laser welding head generates a laser beam under the action of the laser generation control adjuster. At the same time, the laser focus calibrator and the laser focusing point generator ensure that the laser focus is accurately located at the weld. During the welding process, the electrically controlled rotation adjustment structure drives the weld prediction contact rod to contact the surface of the hollow ball, and the weld position and welding status are monitored in real time. The laser welding head feeds back and adjusts the strength and focusing degree of the laser welding head in real time through the laser generation control adjuster according to the monitoring results to ensure the welding quality. S4. After welding is completed, the external clamping robot arm places the welded hollow ball from the input end into the flexible receiving guide groove, and the hollow ball moves along the conveying trough frame. During the movement, the marking classifier detects the hollow ball, and guides the hollow ball to the good product output guide groove and the defective product output guide groove respectively according to the detection results, so as to realize the classified output of the finished product. During the whole process, the welding model real-time display end is used to display the various parameters, models and status information of the hollow ball in the welding process in real time, so as to facilitate the above-mentioned laser precision welding components, hollow ball clamping and docking components and hollow ball welding calibration and control components to adjust the operation state in real time according to the display feedback information.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, with the cooperation of the hollow ball welding calibration and control component, when the hollow ball is docked, the built-in contact monitoring sensors of the flexible contact ends on the multiple groups of micro-actuators start to work, and monitor the contact pressure, contact area and shape change information of the hollow ball surface in real time, so that when the flexible contact end contacts the convex part of the hollow ball surface, the contact pressure will increase instantly, and the contact monitoring sensor will quickly capture this change, and transmit the data to the external PLC controller, and make the external PLC controller calculate and analyze the actual shape and size deviation of the hollow ball surface according to the data fed back by the contact monitoring sensor, and then send control instructions to the multiple groups of micro-actuators, so that the micro-actuators adjust their own output force and stroke according to the instructions, so as to accurately adjust the position and clamping force of the flexible contact end, for the convex part of the hollow ball docking edge surface, the micro-actuator will appropriately reduce the clamping force and adjust the position of the contact end to make it fit better, and for the concave part of the docking edge, the clamping force is increased and the contact end is pushed deeper to achieve adaptive calibration of the shape of the hollow ball, so as to ensure that the docking accuracy of the two hollow balls reaches an extremely high level.

[0016] 2. In the present invention, with the cooperation of the hollow ball welding calibration and control component, during the welding process, the position change of the hollow ball is continuously monitored by the flexible contact end, and the main elastic adjustment scissor arc plate and the multiple groups of elastic scissor arc plates are returned to their positions to form a stable setting in the lower half of the outer part of the hollow ball. Once the offset is detected, the contact monitoring sensor will immediately transmit the data to the external PLC controller, and the external PLC controller will quickly calculate the offset and direction of the hollow ball based on the received data, and then send an adjustment instruction to the micro-actuator, so that the micro-actuator responds quickly, adjusts the position and clamping force of the flexible contact end, compensates the position of the hollow ball, and returns it to the correct welding position, that is, when the hollow ball has a slight displacement in a certain direction, the micro-actuator at the corresponding position will push the flexible contact end to move in the opposite direction, and adjust the clamping force at the same time to stabilize the position of the hollow ball, ensuring that the welding seam is always in an ideal alignment state, so that the above-mentioned whole can accurately calibrate the shape and size of the hollow ball during the hollow ball docking and welding process, compensate for the position change of the hollow ball in real time, reduce the problem of axial or radial offset during welding, and improve the stability and reliability of welding quality.

[0017] 3. In the present invention, with the cooperation of the laser fine welding assembly, during welding, the laser focusing point generator emits an auxiliary laser beam to irradiate the hollow ball welding surface, and the laser focus calibrator detects the reflected light and refracted light characteristics of the auxiliary laser beam on the hollow ball surface to accurately calculate the relative relationship between the actual focus position of the laser welding head and the hollow ball surface. When the focus position is detected to be offset, the data is immediately transmitted to the external PLC controller and the welding model real-time display terminal. The external PLC controller dynamically adjusts the position of the laser welding head through the fine-tuning driver according to the feedback data of the laser focus calibrator, so that the laser focus is always maintained at the ideal position of the welding seam. At the same time, the electrically controlled rotation adjustment structure drives the two sets of weld prediction contact rods to maintain slight contact with the hollow ball surface, so that It is necessary to install high-precision pressure sensors, temperature sensors and displacement sensors on the weld prediction contact rod to cooperate with each other, so that when the weld seam has a slight offset due to thermal deformation of the hollow ball, the displacement sensor on the weld prediction contact rod will detect the relative displacement change between the contact rod and the weld seam, and the pressure sensor will also detect the change in contact pressure. After the sensor transmits this information to the external PLC controller, the external PLC controller will analyze and determine that the welding quality is abnormal (such as unstable molten pool, the appearance of pores, etc.) or the weld seam has a large offset. The external PLC controller will adjust the intensity, concentration, pulse frequency and other parameters of the laser welding head in real time through the laser generation control regulator. At the same time, it may also adjust the position and angle of the laser welding head to correct welding deviations and ensure the stability and consistency of welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the main view of a hollow ball automatic welding device of the present invention; Figure 2 It is a schematic structural diagram of a hollow ball automatic welding device in a side view of the present invention; Figure 3 It is a schematic diagram of the installation structure of a laser precision welding component in a hollow ball automatic welding device of the present invention; Figure 4 A hollow ball automatic welding device of the present invention Figure 3 A schematic diagram of the enlarged structure at point A; Figure 5 It is a partial structural schematic diagram of a hollow ball clamping and docking assembly in a hollow ball automatic welding device of the present invention; Figure 6 It is a structural schematic diagram of a hollow ball welding calibration and control component in a hollow ball automatic welding device of the present invention; Figure 7 It is a partial structural schematic diagram of a hollow ball welding calibration and control component in a hollow ball automatic welding device of the present invention; Figure 8A hollow ball automatic welding device of the present invention Figure 7 A schematic diagram of the enlarged structure at B; Fig. 9 It is a structural schematic diagram of a laser precision welding assembly in a hollow ball automatic welding device of the present invention; Fig.10 A hollow ball automatic welding device of the present invention Fig. 9 Enlarged structural diagram at C.

[0019] In the figure: 1, bearing frame; 2, longitudinal high-precision electromagnetic guide rail; 3, laser precision welding assembly; 301, sliding connection seat; 302, rotation control structure; 303, fine adjustment drive; 304, semi-arc electromagnetic guide rail; 305, pneumatic lifting guide rod; 306, laser fixed frame; 307, laser welding head; 308, laser generation control adjuster; 309, laser focus calibrator; 3090, laser focusing point generator; 3091, fine-motion regulator; 3092, electric control rotation adjustment structure; 3093, weld prediction contact rod; 4, hollow ball clamping docking assembly; 401, adsorption drive; 402, control motor; 403, first gear; 404, second gear; 405, lateral drive electromagnetic guide rail; 406, adsorption clamping ball rack; 407, position sensor; 408, positioning sliding seat; 409, drive motor; 4090, right-angle rotation connection structure; 4 091, control negative pressure regulator; 5, bearing plate; 6, hollow ball welding calibration control assembly; 601, drive control frame; 602, gear transmission group; 603, photoelectric sensor; 604, output control shaft; 605, displacement positioning sliding saddle; 606, vertical axis guide rail; 607, main elastic adjustment scissor arc plate; 608, elastic scissor arc plate; 609, outer arc plate; 6090, adjustment track arc groove; 6091, docking piece; 6092. Micro-actuator; 6093. Flexible contact end; 7. Underframe electromagnetic guide rail; 8. Automatic material guiding structure; 9. Support structure; 10. Hollow ball guide rail; 11. Input end; 12. Vertical high-precision electromagnetic guide rail; 13. Horizontal high-precision electromagnetic guide rail; 14. Adjustable support frame; 15. Real-time display end of welding model; 16. Flexible receiving guide groove; 17. Conveying trough frame; 18. Marking classifier; 19. Good product output guide groove. DETAILED DESCRIPTION

[0020] 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 implementation regulations described 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.

[0021] In the present invention, reference is made to Figure 1-Figure 10 As shown: A hollow ball automatic welding device, comprising: The laser precision welding assembly 3 is slidably connected to the interior of the longitudinal high-precision electromagnetic guide rail 2, and is used to provide real-time feedback and adjust the strength and concentration of the laser welding head 307 installed at the front end according to the monitoring of the welding seam detection sensor when welding the hollow sphere; The hollow ball welding calibration and control component 6 is slidably connected to the top of the electromagnetic guide rail 7 of the chassis, and is used for real-time calibration and control of the welding accuracy during and after the docking of the hollow balls on the left and right sides; The hollow ball clamping and docking assembly 4 is fixedly mounted on the surface of the carrier plate 5 and symmetrically mounted on the left and right ends of the top wall surface of the carrier plate 5, and is used to clamp and adsorb the hollow spheres with uniform feeding speed, and then turn to docking, so as to facilitate the subsequent laser welding head 307 to perform welding operations; The automatic material guiding structure 8 is installed at the left and right ends of the supporting frame 1 and is used to automatically convey the hollow balls for subsequent butt welding.

[0022] Embodiment 1: In the present invention, according to Figure 1 , Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, the hollow ball welding calibration and control component 6 includes: The drive control frame 601, the gear transmission group 602, the photoelectric sensor 603 and the output regulating shaft 604, the bottom of the drive control frame 601 is installed with a displacement positioning sliding saddle 605, the side end of the displacement positioning sliding saddle 605 is slidably connected with a vertical axis guide rail 606, the vertical axis guide rail 606 is located at the top end of the electromagnetic guide rail 7 of the base frame and is slidably connected, the gear transmission group 602 is installed inside the drive control frame 601, and drives the output regulating shaft 604 to form gear meshing control.

[0023] The side end of the output control shaft 604 is sleeved with a main elastic adjustment scissor-type arc plate 607, and the left and right ends of the main elastic adjustment scissor-type arc plate 607 are hinged with multiple groups of elastic scissor-type arc plates 608. The outer side ends of the multiple groups of elastic scissor-type arc plates 608 are installed with outer arc plates 609, and the surface of the outer arc plate 609 is provided with an adjustment track arc groove 6090. The multiple groups of elastic scissor-type arc plates 608 are located inside the adjustment track arc groove 6090 and are slidably connected.

[0024] The top end of the outer arc plate 609 is fastened with a docking piece 6091, and multiple sets of micro-actuators 6092 are evenly and equidistantly installed on the surface of multiple sets of elastic scissor-type arc plates 608 and the main elastic adjustment scissor-type arc plates 607. The side ends of the multiple sets of micro-actuators 6092 are installed with flexible contact ends 6093 through built-in contact monitoring sensors. The multiple sets of micro-actuators 6092 are used to drive the flexible contact ends 6093 to automatically calibrate the docking accuracy in terms of size and shape when the hollow ball is docked, and adjust the clamping force and clamping position.

[0025] In a specific scheme, first, after the hollow ball clamping docking assembly 4 preliminarily positions and brings the left and right hollow balls close together, the displacement positioning sliding saddle 605 at the bottom of the driving control frame 601 in the hollow ball welding calibration and control assembly 6 moves to the approximate position of the hollow ball docking area according to the instruction of the external PLC controller under the coordinated action of the vertical axis guide rail 606 and the base frame electromagnetic guide rail 7, ensuring that the entire calibration and control assembly can effectively cover the hollow ball docking part, and then the photoelectric sensor 603 performs a preliminary scanning and detection of the position and posture of the hollow ball to obtain the approximate contour information of the hollow ball, and transmits the data to the external PLC controller and the welding model real-time display terminal 15. The external PLC controller 606 is connected to the welding model real-time display terminal 15, and the external PLC controller 606 is connected to the welding model real-time display terminal 15. The LC controller further fine-tunes the position of the displacement positioning sliding saddle 605 according to the feedback data, so that the output regulating shaft 604 and the main elastic regulating scissor arc plate 607, the elastic scissor arc plate 608 and the outer arc plate 609 connected thereto are in the best initial working state, ready for contact calibration with the hollow ball. Then, after the gear transmission group 602 receives the start signal of the external PLC controller, it starts to drive the output regulating shaft 604 to rotate. The rotation of the output regulating shaft 604 drives the main elastic regulating scissor arc plate 607 to deform. Due to the hinged structure between the main elastic regulating scissor arc plate 607 and the multiple sets of elastic scissor arc plates 608, this deformation will be transmitted and cause the elastic scissor arc plates 608 to deform. The shape and position of the elastic scissor arc plate 608 also change accordingly. The elastic scissor arc plate 608 slides in the adjustment track arc groove 6090, driving the outer arc plate 609 and the docking piece 6091 at the top thereof to gradually approach the surface of the hollow ball. When the docking piece 6091 contacts the hollow ball, the contact monitoring sensors built into the flexible contact ends 6093 on the multiple sets of micro-actuators 6092 start to work, and monitor the contact pressure, contact area and shape change information of the surface of the hollow ball in real time, so that when the flexible contact end 6093 contacts the raised part of the surface of the hollow ball, the contact pressure will increase instantly, and the contact monitoring sensor will quickly capture this change, and transmit the data to the external PLC controller, so that the external PLC controller The controller calculates and analyzes the actual shape and size deviation of the hollow ball surface based on the data fed back by the contact monitoring sensor, and then sends control instructions to multiple groups of micro-actuators 6092, so that the micro-actuators 6092 adjust their own output force and stroke according to the instructions, thereby accurately adjusting the position and clamping force of the flexible contact end 6093. For the raised part of the hollow ball docking edge surface, the micro-actuator 6092 will appropriately reduce the clamping force and adjust the position of the contact end to make it fit better. For the concave part of the docking edge, the clamping force is increased and the contact end is pushed deeper to achieve adaptive calibration of the hollow ball shape, ensuring that the docking accuracy of the two hollow balls reaches an extremely high level. Secondly, during the welding process, the heat generated by laser welding will cause thermal deformation of the hollow ball. When the position of the hollow ball may shift, the flexible contact end 6093 is used to continuously monitor the position change of the hollow ball, and the main elastic adjustment scissor arc plate 607 and the multiple sets of elastic scissor arc plates 608 are returned to form a stable setting on the lower part of the outer part of the hollow ball. Once the shift is detected, the contact monitoring sensor will immediately transmit the data to the external PLC controller. The external PLC controller quickly calculates the offset and direction of the hollow ball based on the received data, and then sends an adjustment instruction to the micro driver 6092, so that the micro driver 6092 can quickly In response, the position and clamping force of the flexible contact end 6093 are adjusted to compensate for the position of the hollow ball and return it to the correct welding position. That is, when the hollow ball has a slight displacement in a certain direction, the micro-actuator 6092 at the corresponding position will push the flexible contact end 6093 to move in the opposite direction, and at the same time adjust the clamping force to stabilize the position of the hollow ball and ensure that the weld is always in an ideal alignment state, so that the above-mentioned whole can accurately calibrate the shape and size of the hollow ball during the hollow ball docking and welding process, compensate for the position change of the hollow ball in real time, reduce the problem of axial or radial offset during welding, and improve the stability and reliability of welding quality.

[0026] Embodiment 2: In the present invention, according to Figure 1 , Figure 2 , Figure 3 , Fig. 9 and Fig.10 As shown, the laser precision welding assembly 3 includes: The sliding connection seat 301, the rotation control structure 302, the fine-tuning driver 303 and the semi-arc electromagnetic guide rail 304, the sliding connection seat 301 is located in the internal sliding connection of the longitudinal high-precision electromagnetic guide rail 2, the rotation control structure 302 drives the fine-tuning driver 303 at the bottom to be fastened and connected at the side end of the sliding connection seat 301, the semi-arc electromagnetic guide rail 304 is installed on the fine-tuning driver 303, and the internal sliding connection of the semi-arc electromagnetic guide rail 304 is provided with a pneumatic lifting guide rod 305, a laser fixing frame 306 is installed on the side of the pneumatic lifting guide rod 305, and a laser welding head 307 is installed at the side end of the laser fixing frame 306.

[0027] A laser generating control adjuster 308 is installed on the outer peripheral side of the laser welding head 307, a connecting frame is installed on the bottom of the pneumatic lifting guide rod 305, multiple groups of laser focus calibrators 309 are symmetrically installed on the left and right ends of the connecting frame, a laser focusing point generator 3090 is installed on the bottom of the multiple groups of laser focus calibrators 309, a micro-controller 3091 is fastened to the side of the connecting frame, an electrically controlled rotation adjustment structure 3092 is installed on the bottom of the electrically controlled rotation adjustment structure 3092, and two groups of weld prediction contact rods 3093 are installed inside the electrically controlled rotation adjustment structure 3092.

[0028] In a specific scheme, when the hollow ball is accurately docked by the hollow ball clamping docking component 4 and calibrated by the hollow ball welding calibration and control component 6, the laser precision welding component 3 is operated, so that the sliding connection seat 301 is driven by the longitudinal high-precision electromagnetic guide rail 2 and moves quickly and accurately to the approximate starting position above the hollow ball welding area according to the initial welding position information preset by the external PLC controller. In this process, the longitudinal high-precision electromagnetic guide rail 2 uses precise control of electromagnetic force to ensure that the sliding connection seat 301 can be smoothly stopped at the specified coordinate position, and its positioning accuracy can reach the sub-millimeter level. Then the fine-tuning driver 303 finely adjusts the position of the laser welding head 307 according to further instructions from the external PLC controller, wherein the fine-tuning driver 303 is a micro-displacement platform driven by piezoelectric ceramics, which can achieve precise displacement adjustment from nanometer to micrometer level in a small range, and through the action of the fine-tuning driver 303, the laser welding head 307 is more accurately aligned with the starting point of the weld.Then, the pneumatic lifting guide rod 305 starts to adjust the height position of the laser welding head 307 under the control of the external PLC controller. When the laser welding head 307 drops to a predetermined welding height from the surface of the hollow sphere, the descending action is stopped. At this time, the laser welding head 307 prepares for welding. After that, the laser welding head 307 starts to emit a laser beam under the control of the laser generator control regulator 308 to perform welding operations. The laser generator control regulator 308 generates a laser beam with suitable characteristics according to a preset welding process by controlling the laser medium excitation inside the laser generator, so that welding can be performed using lower power and higher frequency laser pulses according to thinner hollow sphere materials to avoid burn-through. For thicker materials, The laser power is increased and the pulse parameters are adjusted accordingly to form an adaptive welding operation. During the welding process, multiple groups of laser focus calibrators 309 and laser focus point generators 3090 work in real time, so that the laser focus point generator 3090 emits an auxiliary laser beam to irradiate the hollow ball welding surface, and the laser focus calibrator 309 detects the reflected light and refracted light characteristics of the auxiliary laser beam on the hollow ball surface, and uses the optical triangulation principle or other advanced focus detection algorithms to accurately calculate the relative relationship between the actual focus position of the laser welding head 307 and the hollow ball surface. When the focus position is detected to be offset (such as the change in surface curvature due to thermal deformation of the hollow ball), the data is immediately transmitted to the external PLC controller and In the welding model real-time display terminal 15, the external PLC controller dynamically adjusts the position of the laser welding head 307 through the fine-tuning driver 303 according to the feedback data of the laser focus calibrator 309, so that the laser focus is always kept at the ideal position of the welding seam. At the same time, the electrically controlled rotation adjustment structure 3092 drives the two sets of weld prediction contact rods 3093 to maintain slight contact with the surface of the hollow ball, so that high-precision pressure sensors, temperature sensors and displacement sensors are installed on the weld prediction contact rods 3093, so that when the weld seam is slightly offset due to the thermal deformation of the hollow ball, the displacement sensor on the weld prediction contact rod 3093 will detect the relative displacement change between the contact rod and the weld seam, and the pressure sensor will also detect After the sensor transmits this information to the external PLC controller, when the external PLC controller analyzes and determines that the welding quality is abnormal (such as unstable molten pool, pores, etc.) or the weld has a large offset, the external PLC controller will adjust the intensity, concentration, pulse frequency and other parameters of the laser welding head 307 in real time through the laser control adjuster 308. At the same time, the position and angle of the laser welding head 307 may also be adjusted to correct the welding deviation, ensure the stability and consistency of the welding quality, and enable it to better track the weld. When the welding is completed, the above-mentioned structure of the laser welding head 307 returns to its original position to avoid collision with the hollow ball or other components in subsequent operations, and prepare for the next round of welding operations.

[0029] Embodiment 3: In the present invention, according to Figure 1-Figure 5 As shown, the hollow ball clamping docking assembly 4 includes: Adsorption driver 401, lateral drive electromagnetic guide rail 405, control negative pressure regulator 4091, adsorption clamping ball rack 406 and control motor 402, adsorption driver 401 is installed inside the bottom end of control negative pressure regulator 4091, and is used for adsorption clamping hollow ball, control motor 402 is installed on the shell side of control negative pressure regulator 4091 through hoop, the bottom output end of control motor 402 is connected with first gear 403, the side end of first gear 403 is meshed with second gear 404, and second gear 404 is sleeved with On the outside of the negative pressure connecting tube at the top of the adsorption and clamping ball rack 406, it is used to drive the adsorption and clamping ball rack 406 to form a circular trajectory for rotation and adjustment. The transverse driving electromagnetic guide rail 405 is installed on the top side end surface of the supporting plate 5. The top of the transverse driving electromagnetic guide rail 405 is internally slidably connected with a positioning sliding seat 408. The side end of the positioning sliding seat 408 is installed with a position sensor 407. The top side end of the positioning sliding seat 408 is installed with a driving motor 409. The output end of the driving motor 409 is connected to a right-angle rotating connection structure 4090.

[0030] In a specific solution, after the automatic material guiding structure 8 transports the hollow ball to a designated position near the hollow ball clamping docking assembly 4, the adsorption driver 401 starts to start under the control of the negative pressure regulator 4091, generating a certain negative pressure suction force, and initially adsorbs and fixes the hollow ball when it approaches to prevent the hollow ball from rolling or shifting at will, and then moves to an initial grabbing position close to the hollow ball according to the feedback information of the position sensor 407. When the positioning sliding seat 408 reaches the predetermined position, the adsorption driver 401 increases the negative pressure suction force under the further control of the negative pressure regulator 4091, so that the adsorption clamping ball rack 406 firmly adsorbs the hollow ball, and the adsorption clamping ball rack 406 is The surface is installed with arc grooves and flexible adsorption pads adapted to the surface of the hollow ball to increase the stability and reliability of adsorption and avoid damage to the surface of the hollow ball. After the grasping is completed, the electromagnetic guide rail 405 is driven laterally to move the positioning sliding seat 408 to the initial docking position corresponding to the opposite adsorption clamping ball rack 406 according to the instruction of the external PLC controller. The driving motor 409 drives the right-angle rotation connection structure 4090 and the adsorbed hollow ball to rotate 90° at a right angle to form an axis connection. Then, the above-mentioned laser fine welding component 3 and the hollow ball welding calibration and control component 6 are used to operate. During the welding process, the control motor 402 is started, and its output power is transmitted through the first The meshing transmission of the gear 403 and the second gear 404 drives the adsorption clamping ball rack 406 to perform a slow and precise 360° circular trajectory rotation adjustment with the negative pressure connecting tube as the axis. During the rotation process, the external PLC controller accurately controls the speed and rotation angle of the motor 402 according to the preset docking angle parameters and the feedback information of the above-mentioned sensor, and enables the adsorption driver 401 to always maintain a stable negative pressure adsorption force to ensure that the hollow ball will not be displaced or fall off during the rotation adjustment process. When a slight offset is found in the central axes of the two hollow balls during the rotation adjustment process, the lateral driving electromagnetic guide rail 405 can make the positioning sliding seat 408 perform a slight displacement adjustment in the horizontal direction to Correct the offset. When the docking of the two hollow balls reaches the predetermined accuracy requirement, the adsorption driver 401 and the control motor 402 maintain the current working state to keep the hollow ball stably in the docking position. The adsorption driver 401 continues to provide sufficient adsorption force to resist external force interference that may occur during the welding process, such as slight deformation of the hollow ball caused by welding thermal stress, air flow impact caused by the movement of the laser welding head, etc. After the welding is completed, the adsorption driver 401 gradually reduces the negative pressure suction force under the control of the negative pressure regulator 4091, and releases the welded hollow ball, so that it is convenient to place the welded hollow ball from the input end 11 into the flexible receiving guide groove 16 through an external clamping robot arm.

[0031] Embodiment 4: In the present invention, according to Figure 1-Figure 3As shown, a transverse high-precision electromagnetic guide rail 13 is installed on the top side end of the carrier body 1, and the top end of the transverse high-precision electromagnetic guide rail 13 is internally slidably connected with a vertical high-precision electromagnetic guide rail 12, and the longitudinal high-precision electromagnetic guide rail 2 is located at the side end of the vertical high-precision electromagnetic guide rail 12 and is internally slidably connected, and an input end 11 is opened on the surface of the carrier body 1, and the bottom of the input end 11 is connected to a flexible receiving guide groove 16, and an external clamping robot arm is installed on the side end of the input end 11 for placing the welded hollow ball from the input end 11 into the flexible receiving guide groove 16, and the bottom of the flexible receiving guide groove 16 is connected to a conveying trough frame 17.

[0032] A marking classifier 18 is installed on the top of the side end of the conveying trough frame 17, and the left and right output ends of the conveying trough frame 17 are respectively connected to the good product output guide groove 19 and the defective product output guide groove, the bottom of the automatic material guiding structure 8 is fastened with the support structure 9, and the side end of the automatic material guiding structure 8 is connected with the hollow ball guide track 10, and the top of the side end of the supporting frame 1 is fastened with the adjusting support frame 14, and the side end of the adjusting support frame 14 is installed with a welding model real-time display terminal 15.

[0033] In a specific solution, after the hollow ball clamping and docking assembly 4 grabs and docks the hollow ball, the laser precision welding assembly 3 moves precisely to the welding position for welding under the coordinated action of the horizontal high-precision electromagnetic guide rail 13, the vertical high-precision electromagnetic guide rail 12 and the longitudinal high-precision electromagnetic guide rail 2. During the welding process, the welding model real-time display terminal 15 on the support frame 14 is adjusted to display the relevant parameters and model information of the welding in real time. The external clamping robot arm transfers the welded hollow ball from the hollow ball clamping and docking assembly 4 to the input end 11 of the support frame body 1. The ball slides along the flexible receiving guide groove 16 to the conveying trough frame 17, and the marking classifier 18 on the conveying trough frame 17 detects the welded hollow ball. According to the detection result, the marking classifier 18 marks and classifies the hollow ball. Finally, the conveying trough frame 17 guides the hollow ball to the good product output guide groove 19 and the defective product output guide groove according to the marking classification result, so that the good product output guide groove 19 conveys the qualified hollow ball to the subsequent packaging or processing process, and the defective product output guide groove conveys the unqualified hollow ball to a special defective product processing area for rework or scrapping.

[0034] The wiring diagram of the fine-tuning driver 303, the semi-arc electromagnetic guide rail 304, the laser generation control adjuster 308, the laser focus calibrator 309, the laser focusing point generator 3091, the fine-motion regulator 3091, the electrically controlled rotation adjustment structure 3092, the weld prediction contact rod 3094, the adsorption driver 401, the control motor 402, the position sensor 407, the drive motor 409, the control negative pressure regulator 4091, the photoelectric sensor 602 and the micro driver 6092 in the present invention is common knowledge in the art, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring layout are not explained in detail.

[0035] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hollow ball automatic welding device, characterized in that: Included are: A laser precision welding assembly (3) is slidably connected to the interior of the longitudinal high-precision electromagnetic guide rail (2) and is used to provide real-time feedback and control of the strength and concentration of a laser welding head (307) installed at the front end when welding a hollow sphere according to monitoring by a welding seam detection sensor; A hollow ball welding calibration and control component (6) is slidably connected to the top of the bottom frame electromagnetic guide rail (7) and is used to calibrate and control the welding accuracy in real time during and after the hollow balls on the left and right sides are docked. The hollow ball clamping and docking assembly (4) is fixedly mounted on the surface of the carrier plate (5) and is symmetrically mounted on the left and right ends of the top wall surface of the carrier plate (5), and is used to clamp and adsorb the hollow ball with a uniform feeding speed, and then turn it to docking, so as to facilitate the subsequent laser welding head (307) to perform welding operations; The automatic material guiding structure (8) is installed at the left and right ends of the supporting frame (1) and is used to automatically convey the hollow balls for subsequent butt welding.

2. The hollow ball automatic welding device according to claim 1 is characterized in that: The hollow ball welding calibration and control component (6) comprises: A drive control frame (601), a gear transmission group (602), a photoelectric sensor (603) and an output regulating shaft (604); a displacement positioning sliding saddle (605) is installed at the bottom of the drive control frame (601); a side end of the displacement positioning sliding saddle (605) is slidably connected to a vertical axis guide rail (606); the vertical axis guide rail (606) is located inside the top end of the electromagnetic guide rail (7) of the bottom frame and is slidably connected; the gear transmission group (602) is installed inside the drive control frame (601) and drives the output regulating shaft (604) to form gear meshing control.

3. The hollow ball automatic welding device according to claim 2 is characterized in that: The side end of the output regulating shaft (604) is sleeved with a main elastic regulating scissor-type arc plate (607), and the left and right ends of the main elastic regulating scissor-type arc plate (607) are hinged with multiple groups of elastic scissor-type arc plates (608), and the outer side ends of the multiple groups of elastic scissor-type arc plates (608) are installed with outer arc plates (609), and the surface of the outer arc plate (609) is provided with an regulating track arc groove (6090), and the multiple groups of elastic scissor-type arc plates (608) are located inside the regulating track arc groove (6090) and are slidably connected.

4. The hollow ball automatic welding device according to claim 3 is characterized in that: The top end of the outer arc plate (609) is fastened with a docking piece (6091), and multiple groups of micro-actuators (6092) are evenly and equidistantly installed on the surfaces of multiple groups of the elastic scissor-type arc plates (608) and the main elastic adjustment scissor-type arc plates (607). The side ends of the multiple groups of micro-actuators (6092) are installed with flexible contact ends (6093) through built-in contact monitoring sensors. The multiple groups of micro-actuators (6092) are used to drive the flexible contact ends (6093) to automatically calibrate the docking accuracy in terms of size and shape when the hollow balls are docked, and adjust the clamping force and clamping position.

5. The hollow ball automatic welding device according to claim 4 is characterized in that: The laser precision welding assembly (3) comprises: A sliding connection seat (301), a rotation control structure (302), a fine-tuning driver (303) and a semi-arc electromagnetic guide rail (304), wherein the sliding connection seat (301) is located inside the longitudinal high-precision electromagnetic guide rail (2) for sliding connection, the rotation control structure (302) drives the fine-tuning driver (303) at the bottom to be located at the side end of the sliding connection seat (301) for fastening connection, the semi-arc electromagnetic guide rail (304) is installed on the fine-tuning driver (303), and the semi-arc electromagnetic guide rail (304) is internally slidably connected with a pneumatic lifting guide rod (305), a laser fixing frame (306) is installed on the side of the pneumatic lifting guide rod (305), and the laser welding head (307) is installed at the side end of the laser fixing frame (306).

6. The hollow ball automatic welding device according to claim 5, characterized in that: A laser generating control adjuster (308) is installed on the outer peripheral side of the laser welding head (307); a connecting frame is installed on the bottom of the pneumatic lifting guide rod (305); multiple groups of laser focus calibrators (309) are symmetrically installed on the left and right ends of the connecting frame; laser focusing point generators (3090) are installed on the bottom of the multiple groups of laser focus calibrators (309); a micro-motion regulator (3091) is fastened to the side of the connecting frame; an electrically controlled rotation adjustment structure (3092) is installed on the bottom of the electrically controlled rotation adjustment structure (3092); and two groups of weld prediction contact rods (3093) are installed inside the electrically controlled rotation adjustment structure (3092).

7. The hollow ball automatic welding device according to claim 6, characterized in that: The hollow ball clamping and docking assembly (4) comprises: An adsorption driver (401), a lateral drive electromagnetic guide rail (405), a control negative pressure regulator (4091), an adsorption clamping ball rack (406), and a control motor (402), wherein the adsorption driver (401) is installed inside the bottom end of the control negative pressure regulator (4091) and is used to adsorb and clamp a hollow ball, and the control motor (402) is installed on the side of the shell of the control negative pressure regulator (4091) through a hoop, and the bottom output end of the control motor (402) is connected to a first gear (403), and the side end of the first gear (403) is meshedly connected to a second gear (404), and the second gear (404) The negative pressure connecting tube is sleeved on the top of the adsorption and clamping ball rack (406) and is used to drive the adsorption and clamping ball rack (406) to form a circular trajectory for rotation adjustment. The transverse driving electromagnetic guide rail (405) is installed on the top side surface of the supporting plate (5). The top of the transverse driving electromagnetic guide rail (405) is internally slidably connected to a positioning sliding seat (408). A position sensor (407) is installed on the side end of the positioning sliding seat (408). A driving motor (409) is installed on the top side end of the positioning sliding seat (408). The output end of the driving motor (409) is connected to a right-angle rotation connection structure (4090).

8. The hollow ball automatic welding device according to claim 7, characterized in that: A transverse high-precision electromagnetic guide rail (13) is installed on the top side end of the support frame (1), and the top end of the transverse high-precision electromagnetic guide rail (13) is slidably connected to a vertical high-precision electromagnetic guide rail (12). The longitudinal high-precision electromagnetic guide rail (2) is located inside the side end of the vertical high-precision electromagnetic guide rail (12) and is slidably connected. An input end (11) is provided on the surface of the support frame (1), and the bottom of the input end (11) is connected to a flexible receiving guide groove (16). An external clamping mechanical arm is installed on the side end of the input end (11) for placing the welded hollow ball from the input end (11) into the flexible receiving guide groove (16), and the bottom of the flexible receiving guide groove (16) is connected to a conveying trough frame (17).

9. The hollow ball automatic welding device according to claim 8, characterized in that: A marking classifier (18) is installed on the top of the side end of the conveying trough frame (17); the left and right output ends of the conveying trough frame (17) are respectively connected to a good product output guide groove (19) and a defective product output guide groove; the bottom of the automatic material guiding structure (8) is fastened to a support structure (9); the side end of the automatic material guiding structure (8) is connected to a hollow ball guide track (10); the top of the side end of the supporting frame (1) is fastened to an adjustment support frame (14); and the side end of the adjustment support frame (14) is installed with a welding model real-time display terminal (15).

10. A method for an automatic welding device for hollow balls, characterized in that: Using the hollow ball automatic welding device as claimed in claim 9 comprises the following steps: S1. First, the hollow ball is transported to the vicinity of the hollow ball clamping and docking assembly (4) through the hollow ball guide track (10) of the automatic material guide structure (8), and the hollow ball is adsorbed on the adsorption and clamping ball rack (406) by using the hollow ball clamping and docking assembly (4), and the driving motor (409) drives the adsorption and clamping ball rack (406) to rotate at an angle of 90°, so that the two hollow balls to be welded are initially aligned; S2. Then the hollow ball welding calibration and control component (6) starts to work, so that the displacement positioning sliding saddle (605) slides on the vertical axis guide rail (606), driving the entire component close to the hollow ball docking point, so that the gear transmission group (602) drives the output control shaft (604) to rotate, thereby causing the main elastic adjustment scissor arc plate (607) and the multiple groups of elastic scissor arc plates (608) and the outer arc plate (609) connected thereto to deform, and the docking piece (6091) on the outer arc plate (609) is used to contact the hollow ball. At the same time, the micro-actuator (6092) adjusts the clamping force and position according to the feedback of the contact monitoring sensor built into the flexible contact end (6093), accurately calibrates the accuracy of the hollow ball docking, ensures that the weld position is accurately aligned, and can compensate for the position deviation caused by factors such as thermal deformation in real time during the welding process; S3. Next, the laser fine welding assembly (3) starts the welding operation, and uses the rotation control structure (302) and the fine adjustment driver (303) to adjust the angle and position of the laser welding head (307). At the same time, the control motor (402) is started, and through the meshing of the first gear (403) and the second gear (404), the adsorption and clamping ball rack (406) is driven to rotate 360 ​​degrees, that is, the hollow ball adsorbed and clamped after docking. At the same time, the laser welding head (307) is controlled by the laser generating adjustment device (308). ), while the laser focus calibrator (309) and the laser focusing point generator (3090) ensure that the laser focus is accurately located at the weld, and during the welding process, the electrically controlled rotation adjustment structure (3092) drives the weld prediction contact rod (3093) to contact the surface of the hollow ball, and monitors the weld position and welding status in real time. The laser welding head (307) provides real-time feedback and adjusts the strength and focusing degree of the laser welding head (307) through the laser generation control adjuster (308) according to the monitoring results, so as to ensure the welding quality; S4. After welding is completed, the external clamping robot arm places the welded hollow ball from the input end (11) into the flexible receiving guide groove (16), and the hollow ball moves along the conveying trough frame (17). During the movement, the marking classifier (18) detects the hollow ball, and guides the hollow ball to the good product output guide groove (19) and the defective product output guide groove respectively according to the detection results, so as to achieve the classified output of the finished product. During the whole process, the welding model real-time display end (15) is used to display various parameters, models and status information of the hollow ball in the welding process in real time, so as to facilitate the above-mentioned laser fine welding component (3), hollow ball clamping and docking component (4) and hollow ball welding calibration and control component (6) to adjust the operation state in real time according to the display feedback information.

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