An automatic welding device and method for hollow spheres

Abstract

The present invention discloses a hollow sphere automatic welding device and method, which relates to the technical field of welding, and includes: a laser fine welding component, which is slidably connected inside a longitudinal high-precision electromagnetic guide rail. When welding hollow spheres, according to the monitoring of a welding seam detection sensor, under the cooperation of a hollow sphere welding calibration and regulation component, it realizes self-adaptive calibration of the shape of the hollow sphere, ensures that the docking accuracy of two hollow spheres reaches an extremely high level, enables the whole to accurately calibrate the shape and size of the hollow sphere during the docking and welding process of the hollow sphere, compensates for the position change of the hollow sphere in real time, reduces the problems of axial or radial deviation that are prone to occur during welding, improves the stability and reliability of welding quality, and under the cooperation of the laser fine welding component, self-adaptively adjusts the position and angle of the laser welding head to correct welding deviation and ensure the stability and consistency of welding quality.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and specifically provides a hollow sphere automatic welding device and method. Background Art

[0002] In recent years, long-span spatial structures have been widely used in various large stadiums, aircraft hangars, convention and exhibition centers, various industrial plants and other buildings. As a major advancement in the field of architecture in the new century, long-span modern spatial structures have gradually stood out from traditional structures with their beautiful structural forms and convenient usage functions, and have been highly favored. Welded hollow sphere joints have the longest application history, with advantages such as simple structure, convenient connection, and no node eccentricity, so they have been widely used. Welded hollow spheres 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 spheres have no directionality, they can be connected to members in any direction. When there are more intersecting members, their advantages are more prominent.

[0003] Currently, during the welding process of hollow spheres, two hollow spheres are clamped and butt-jointed through fixed clamps at both ends, and then welded by methods such as manual welding. However, due to the special shape of the hollow sphere, the surface of the hollow sphere is a curved surface, making it difficult to ensure that the contact surfaces of the two spheres are completely fitted during butt-jointing. Different from planar welding, there is no clear reference plane on the sphere surface. Even when using clamps for fixation, it is difficult to ensure that the weld position is on the ideal circumferential butt-joint line, resulting in easy axial or radial deviation during welding, affecting the welding quality. Therefore, it is necessary to propose a hollow sphere automatic welding device and method. Summary of the Invention

[0004] The purpose of the present invention is to provide a hollow sphere automatic welding device and method to solve the problems raised in the above background art. During the welding process of hollow spheres, two hollow spheres are clamped and butt-jointed through fixed clamps at both ends, and then welded by methods such as manual welding. However, due to the special shape of the hollow sphere, the surface of the hollow sphere is a curved surface, making it difficult to ensure that the contact surfaces of the two spheres are completely fitted during butt-jointing. Different from planar welding, there is no clear reference plane on the sphere surface. Even when using clamps for fixation, it is difficult to ensure that the weld position is on the ideal circumferential butt-joint line, resulting in easy axial or radial deviation during welding, affecting the welding quality.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A hollow sphere automatic welding device includes:

[0006] A laser fine welding assembly, which is slidably connected inside a longitudinal high-precision electromagnetic rail, and is used to, during the welding of hollow spheres, according to the monitoring of a weld seam detection sensor, in real time feedback and adjust the intensity and focusing degree of a laser welding head installed at the front end;

[0007] The hollow sphere welding calibration and regulation component is slidably connected to the inner top of the chassis electromagnetic guide rail and is used to calibrate and regulate the accuracy of welding in real time during and after the docking of the hollow spheres on the left and right sides.

[0008] The hollow sphere clamping and docking component is firmly installed on the surface of the bearing plate and is symmetrically installed at the left and right ends of the top wall surface of the bearing plate. It is used to clamp and adsorb the hollow spheres with uniform feeding speed, turn and dock them, so as to facilitate the subsequent welding operation of the laser welding head.

[0009] The automatic feeding structure is installed at the left and right ends of the bearing frame and is used to automatically convey the hollow spheres for subsequent docking and welding.

[0010] Preferably, the hollow sphere welding calibration and regulation component includes:

[0011] The drive control frame, the gear transmission group, the photoelectric sensor and the output regulation shaft. A displacement positioning sliding saddle is installed at the bottom of the drive control frame. A vertical shaft guide rail is slidably connected to the side end of the displacement positioning sliding saddle. The vertical shaft guide rail is slidably connected to the inner top of the chassis electromagnetic guide rail. The gear transmission group is installed inside the drive control frame and drives the output regulation shaft to form gear meshing control.

[0012] Preferably, a main elastic adjustment scissor arc plate is sleeved on the side end of the output regulation shaft. Multiple groups of elastic scissor arc plates are hinged at the left and right ends of the main elastic adjustment scissor arc plate. An outer arc plate is installed on the outer side end of multiple groups of elastic scissor arc plates. An adjustment track arc groove is opened on the surface of the outer arc plate. Multiple groups of elastic scissor arc plates are slidably connected inside the adjustment track arc groove.

[0013] Preferably, a docking part is firmly connected to the top end of the outer arc plate. Multiple groups of micro drivers are equally divided and equidistantly installed on the surfaces of multiple groups of elastic scissor arc plates and the main elastic adjustment scissor arc plate. A flexible contact end is installed at the side end of multiple groups of micro drivers through an internal contact monitoring sensor. Multiple groups of micro drivers are used to drive the flexible contact end to automatically calibrate the accuracy of docking in terms of size and shape during the docking of the hollow spheres, and adjust the clamping force and clamping position.

[0014] Preferably, the laser fine welding component includes:

[0015] 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.

[0016] 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.

[0017] Preferably, the hollow ball clamping and docking assembly comprises:

[0018] 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.

[0019] 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.

[0020] Preferably, a marking classifier is installed at the top of the side end of the conveying trough frame. The output ends on the left and right sides of the conveying trough frame are respectively communicated with a qualified product output guide trough and a defective product output guide trough. The bottom of the automatic feeding structure is firmly connected with a support structure. The side end of the automatic feeding structure is communicated with a hollow ball conveying track. The top of the side end of the carrier frame is firmly connected with an adjusting support frame. A welding model real-time display end is installed on the side end of the adjusting support frame.

[0021] A method for an automatic welding device of hollow balls includes the following steps:

[0022] S1. First, the hollow balls are conveyed to the vicinity of the hollow ball clamping and docking assembly through the hollow ball conveying track of the automatic feeding structure. Then, the hollow ball clamping and docking assembly adsorbs the hollow balls on the adsorption and clamping ball rack. The driving motor drives the adsorption and clamping ball rack to rotate by 90°, so that the two hollow balls to be welded are initially aligned.

[0023] S2. Then, the hollow ball welding calibration and regulation assembly starts to work. The displacement positioning sliding saddle slides on the vertical shaft guide rail, driving the whole assembly close to the hollow ball docking place. The gear transmission group drives the output regulation shaft to rotate, so that the main elastic adjustment scissor arc plate and the multiple groups of elastic scissor arc plates and outer arc plates connected thereto are deformed. The docking parts on the outer arc plate are used to contact the hollow balls. At the same time, the micro driver adjusts the clamping force and position according to the feedback of the contact monitoring sensor built in the flexible contact end, accurately calibrates the accuracy of the hollow ball docking, ensures that the weld positions are accurately aligned, and can compensate for the position deviation caused by factors such as thermal deformation in real time during the welding process.

[0024] S3. Secondly, the laser fine welding assembly starts the welding operation. The angle and position of the laser welding head are adjusted by the rotation control structure and the fine adjustment driver. At the same time, the regulation 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 docked hollow balls adsorbed and clamped thereon, are driven to rotate by 360°. At the same time, the laser welding head generates a laser beam under the action of the laser generation control and adjustment device. The laser focus calibrator and the laser focus generator ensure that the laser focus is accurately located at the weld. During the welding process, the electric control rotation adjustment structure drives the weld prediction contact rod to contact the surface of the hollow ball, monitors the weld position and the welding state in real time, and the laser welding head feeds back and regulates the intensity and concentration of the laser welding head in real time according to the monitoring results through the laser generation control and adjustment device to ensure the welding quality.

[0025] 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.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 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.

[0028] 2. In the present invention, with the cooperation of the welding calibration and regulation assembly of the hollow sphere, during the welding process, the flexible contact end is used to continuously monitor the position change of the hollow sphere, and the main elastic adjustment scissor arc plate and multiple groups of elastic scissor arc plates are reset to form a stable setting on the lower half of the outside of the hollow sphere. Once an offset is detected, the contact monitoring sensor will immediately transmit the data to the external PLC controller. The external PLC controller calculates the offset amount and direction of the hollow sphere quickly according to the received data, and then sends an adjustment instruction to the micro driver, enabling the micro driver to respond quickly, adjust the position and clamping force of the flexible contact end, compensate for the position of the hollow sphere, and make it return to the correct welding position. That is, when the hollow sphere has a small displacement in a certain direction, the micro driver 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 sphere, ensuring that the weld seam is always in an ideal alignment state. This enables the above-mentioned whole to accurately calibrate the shape and size of the hollow sphere during the butt joint and welding process of the hollow sphere, compensate for the position change of the hollow sphere in real time, reduce the problems of axial or radial offset that are prone to occur during welding, and improve the stability and reliability of the welding quality.

[0029] 3. In the present invention, with the cooperation of the laser fine welding assembly, during the welding, the laser focus generator emits an auxiliary laser beam to irradiate the welding surface of the hollow sphere, and the laser focus calibrator accurately calculates the relative relationship between the actual focus position of the laser welding head and the surface of the hollow sphere by detecting the reflection and refraction light characteristics of the auxiliary laser beam on the surface of the hollow sphere. When the focus position is detected to deviate, the data will be immediately transmitted to the external PLC controller and the real-time display end of the welding model. The external PLC controller dynamically adjusts the position of the laser welding head through the fine adjustment driver according to the feedback data of the laser focus calibrator, so that the laser focus always remains at the ideal position of the weld seam. At the same time, the electric control rotation adjustment structure drives the two weld prediction contact rods to keep slight contact with the surface of the hollow sphere. With the high-precision pressure sensor, temperature sensor and displacement sensor installed on the weld prediction contact rod, when the weld seam has a small offset due to the thermal deformation of the hollow sphere, 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 of the contact pressure. After the sensor transmits this information to the external PLC controller, when the external PLC controller analyzes and judges that the welding quality is abnormal (such as unstable molten pool, porosity, etc.) or the weld seam has a large offset, the external PLC controller will adjust the parameters such as the intensity, focusing degree, and pulse frequency of the laser welding head in real time through the laser generation control regulator, and may also adjust the position and angle of the laser welding head to correct the welding deviation and ensure the stability and consistency of the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic structural diagram of the front view of an automatic hollow sphere welding device of the present invention;

[0031] Figure 2 Schematic structural diagram of the side view of an automatic hollow sphere welding device of the present invention;

[0032] Figure 3 Schematic installation structure diagram of the laser fine welding component of an automatic hollow sphere welding device of the present invention;

[0033] Figure 4 In an automatic hollow sphere welding device of the present invention Figure 3 Schematic enlarged structure diagram at position A;

[0034] Figure 5 Partial schematic structural diagram of the hollow sphere clamping and docking component of an automatic hollow sphere welding device of the present invention;

[0035] Figure 6 Schematic structural diagram of the hollow sphere welding calibration and regulation component of an automatic hollow sphere welding device of the present invention;

[0036] Figure 7 Partial schematic structural diagram of the hollow sphere welding calibration and regulation component of an automatic hollow sphere welding device of the present invention;

[0037] Figure 8 In an automatic hollow sphere welding device of the present invention Figure 7 Schematic enlarged structure diagram at position B;

[0038] Figure 9 Schematic structural diagram of the laser fine welding component of an automatic hollow sphere welding device of the present invention;

[0039] Figure 10 In an automatic hollow sphere welding device of the present invention Figure 9 Schematic enlarged structure diagram at position C.

[0040] 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

[0041] 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.

[0042] In the present invention, reference is made to Figures 1 - 10 As shown: A hollow ball automatic welding device, comprising:

[0043] 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;

[0044] The hollow sphere welding calibration and regulation assembly 6 is slidably connected to the inner top of the chassis electromagnetic guide rail 7 and is used to calibrate and regulate the accuracy of welding in real time during and after the docking of the hollow spheres on the left and right sides.

[0045] The hollow sphere clamping and docking assembly 4 is firmly installed on the surface of the bearing plate 5 and is symmetrically installed at the left and right ends of the top wall surface of the bearing plate 5. It is used to clamp and adsorb the hollow spheres that form a uniform feeding speed, then turn and dock, facilitating the subsequent welding operation of the laser welding head 307.

[0046] The automatic feeding structure 8 is installed at the left and right ends of the bearing frame 1 and is used to automatically convey the hollow spheres for subsequent docking and welding.

[0047] Embodiment 1: In the present invention, according to Figure 1 , Figure 3 , Figure 6 , Figure 7 and Figure 8 shown, the hollow sphere welding calibration and regulation assembly 6 includes:

[0048] A drive control frame 601, a gear transmission group 602, a photoelectric sensor 603, and an output regulation shaft 604. A displacement positioning sliding saddle 605 is installed at the bottom of the drive control frame 601. A vertical shaft guide rail 606 is slidably connected to the side end of the displacement positioning sliding saddle 605. The vertical shaft guide rail 606 is slidably connected to the inner top of the chassis electromagnetic guide rail 7. The gear transmission group 602 is installed inside the drive control frame 601 and drives the output regulation shaft 604 to form a gear meshing control.

[0049] A main elastic adjustment scissor arc plate 607 is sleeved on the side end of the output regulation shaft 604. Multiple groups of elastic scissor arc plates 608 are hinged at both the left and right ends of the main elastic adjustment scissor arc plate 607. An outer arc plate 609 is installed at the outer side end of the multiple groups of elastic scissor arc plates 608. An adjustment track arc groove 6090 is formed on the surface of the outer arc plate 609. The multiple groups of elastic scissor arc plates 608 are slidably connected inside the adjustment track arc groove 6090.

[0050] A docking part 6091 is firmly connected to the top end of the outer arc plate 609. Multiple groups of micro drives 6092 are equally divided and equidistantly installed on the surfaces of the multiple groups of elastic scissor arc plates 608 and the main elastic adjustment scissor arc plate 607. A flexible contact end 6093 is installed at the side end of the multiple groups of micro drives 6092 through an internal contact monitoring sensor. The multiple groups of micro drives 6092 are used to drive the flexible contact end 6093 to automatically calibrate the accuracy of docking in terms of size and shape during the docking of the hollow spheres, and adjust the clamping force and clamping position.

[0051] In a specific solution, first, after the hollow sphere clamping and docking assembly 4 preliminarily positions and approaches the hollow spheres on the left and right sides, the displacement positioning sliding saddle 605 at the bottom of the drive control frame 601 in the hollow sphere welding calibration and regulation assembly 6 moves to the approximate position of the hollow sphere docking area under the coordinated action of the vertical axis guide rail 606 and the base electromagnetic guide rail 7 according to the instructions of the external PLC controller, ensuring that the entire calibration and regulation assembly can effectively cover the hollow sphere docking part. Then, the photoelectric sensor 603 conducts a preliminary scanning and detection of the position and attitude of the hollow sphere, obtains the approximate contour information of the hollow sphere, and transmits the data to the external PLC controller and the real-time display end 15 of the welding model. The external PLC controller further fine-tunes the position of the displacement positioning sliding saddle 605 according to the feedback data, so that the output regulation shaft 604 and the main elastic regulation scissor arc plate 607, elastic scissor arc plate 608, and outer arc plate 609 connected thereto are in the best initial working state, ready to contact and calibrate with the hollow sphere. Then, after the gear transmission group 602 receives the start signal from the external PLC controller, it starts to drive the output regulation shaft 604 to rotate. The rotation of the output regulation shaft 604 drives the main elastic regulation scissor arc plate 607 to deform. Due to the hinged structure between the main elastic regulation scissor arc plate 607 and multiple groups of elastic scissor arc plates 608, this deformation will be transmitted and cause the elastic scissor arc plates 608 to change their shapes and positions accordingly. The elastic scissor arc plates 608 slide within the adjustment track arc groove 6090, driving the outer arc plate 609 and the docking part 6091 at its top to gradually approach the surface of the hollow sphere. When the docking part 6091 contacts the hollow sphere, the contact monitoring sensors built in the flexible contact ends 6093 of multiple groups of micro-drivers 6092 start to work, and real-time monitor the contact pressure, contact area, and the shape change information of the hollow sphere surface. When the flexible contact end 6093 contacts the raised part of the hollow sphere surface, the contact pressure will instantaneously increase, and the contact monitoring sensors will quickly capture this change and transmit the data to the external PLC controller. The external PLC controller calculates and analyzes the actual shape and dimensional deviation of the hollow sphere surface based on the data feedback from the contact monitoring sensors, and then sends control instructions to multiple groups of micro-drivers 6092, enabling the micro-drivers 6092 to adjust their output force and stroke according to the instructions, thereby precisely adjusting the position and clamping force of the flexible contact ends 6093. For the raised parts on the docking edge surface of the hollow sphere, the micro-drivers 6092 will appropriately reduce the clamping force and adjust the position of the contact end to make it fit better. For the sunken parts on the docking edge, the clamping force will be increased and the contact end will be pushed deeper to achieve adaptive calibration of the hollow sphere shape, ensuring that the docking accuracy of the two hollow spheres reaches an extremely high level;

[0052] Secondly, during the welding process, since the heat generated by laser welding will cause thermal deformation of the hollow sphere and the position of the hollow sphere may shift, the flexible contact end 6093 continuously monitors the position change of the hollow sphere, and the main elastic adjustment scissor arc plate 607 and multiple groups of elastic scissor arc plates 608 are reset to form a stable setting at the lower half outside the hollow sphere. Once a shift is detected, the contact monitoring sensor immediately transmits the data to the external PLC controller. The external PLC controller quickly calculates the shift amount and direction of the hollow sphere based on the received data, and then sends an adjustment instruction to the micro driver 6092, enabling the micro driver 6092 to respond quickly, adjust the position and clamping force of the flexible contact end 6093, compensate for the position of the hollow sphere, and make it return to the correct welding position. That is, when the hollow sphere has a small displacement in a certain direction, the micro driver 6092 at the corresponding position pushes the flexible contact end 6093 to move in the opposite direction, and at the same time adjusts the clamping force to stabilize the position of the hollow sphere, ensuring that the weld seam is always in an ideal alignment state, enabling the above-mentioned whole to accurately calibrate the shape and size of the hollow sphere during the docking and welding of the hollow sphere, compensate for the position change of the hollow sphere in real time, reduce the problems of axial or radial offset that are prone to occur during welding, and improve the stability and reliability of welding quality.

[0053] Embodiment 2: In the present invention, as shown in Figure 1 , Figure 2 , Figure 3 , Figure 9 and Figure 10 , the laser fine welding assembly 3 includes:

[0054] A sliding connection seat 301, a rotation control structure 302, a fine adjustment driver 303, and a semi-circular electromagnetic guide 304. The sliding connection seat 301 is slidably connected inside the longitudinal high-precision electromagnetic guide 2. The rotation control structure 302 drives the fine adjustment driver 303 at the bottom to be firmly connected to the side end of the sliding connection seat 301. The semi-circular electromagnetic guide 304 is installed on the fine adjustment driver 303, and a pneumatic lifting guide rod 305 is slidably connected inside the semi-circular electromagnetic guide 304. 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 on the side of the laser fixing frame 306.

[0055] A laser generation control and adjustment device 308 is installed on the outer peripheral side of the laser welding head 307. A connecting frame is installed at the bottom of the pneumatic lifting guide rod 305. A plurality of groups of laser focus calibrators 309 are symmetrically installed at the left and right ends of the connecting frame. A laser focus point generator 3090 is installed at the bottom of the plurality of groups of laser focus calibrators 309. A fine motion regulator 3091 is tightly connected to the side of the connecting frame. An electric control rotation adjustment structure 3092 is installed at the bottom of the fine motion regulator 3091. Two weld prediction contact rods 3093 are installed inside the electric control rotation adjustment structure 3092.

[0056] In a specific solution, after the hollow sphere is accurately docked by the hollow sphere clamping and docking assembly 4 and calibrated by the hollow sphere welding calibration and control assembly 6, the laser fine welding assembly 3 is operated. The sliding connection seat 301 is driven by the longitudinal high-precision electromagnetic guide rail 2 and quickly and accurately moves to the approximate starting position above the hollow sphere welding area according to the initial welding position information preset by the external PLC controller. During this process, the longitudinal high-precision electromagnetic guide rail 2 uses the precise control of electromagnetic force to ensure that the sliding connection seat 301 can stop stably at the specified coordinate position, and its positioning accuracy can reach the sub-millimeter level. Then, the fine adjustment driver 303 finely adjusts the position of the laser welding head 307 according to further instructions from the external PLC controller. The fine adjustment driver 303 is a micro-displacement platform driven by piezoelectric ceramics and can achieve precise displacement adjustment from the nanometer level to the micrometer level within a small range. Through the action of the fine adjustment driver 303, the laser welding head 307 is more accurately aligned with the starting point of the weld seam.Subsequently, under the control of an external PLC controller, the pneumatic lifting guide rod 305 starts to adjust the height position of the laser welding head 307. When the laser welding head 307 descends to a predetermined welding height from the surface of the hollow sphere, the descending action stops. At this time, the laser welding head 307 prepares for the welding operation. After that, the laser welding head 307 starts to emit a laser beam under the control of the laser generation control adjuster 308 for the welding operation. Among them, the laser generation control adjuster 308 generates a laser beam with appropriate characteristics by controlling the excitation of the laser medium inside the laser generator according to the preset welding process, enabling welding to be carried out using lower-power and higher-frequency laser pulses for the relatively thin hollow sphere material to avoid burning through. For thicker materials, the laser power is correspondingly increased and the pulse parameters are adjusted to form an adaptive welding operation. During the welding process, multiple groups of laser focus calibrators 309 and laser focus generators 3090 work in real time, enabling the laser focus generator 3090 to emit an auxiliary laser beam to irradiate the welding surface of the hollow sphere, and enabling the laser focus calibrator 309 to accurately calculate the relative relationship between the actual focus position of the laser welding head 307 and the surface of the hollow sphere by detecting the reflection and refraction characteristics of the auxiliary laser beam on the surface of the hollow sphere using the principle of optical triangulation or other advanced focus detection algorithms. When it is detected that the focus position has shifted (such as due to the change in surface curvature caused by the thermal deformation of the hollow sphere), the data is immediately transmitted to the external PLC controller and the real-time display end 15 of the welding model. 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 to keep the laser focus always at the ideal position of the weld seam. At the same time, the electrically controlled rotation adjustment structure 3092 drives the two groups of weld prediction contact rods 3093 to keep slight contact with the surface of the hollow sphere, so that high-precision pressure sensors, temperature sensors, and displacement sensors are installed on the weld prediction contact rods 3093. When the weld seam has a slight offset due to the thermal deformation of the hollow sphere, 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 the change in the contact pressure. After the sensors transmit 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, porosity, etc.) or the weld seam has a large offset, the external PLC controller will adjust the parameters such as the intensity, focusing degree, and pulse frequency of the laser welding head 307 in real time through the laser generation control adjuster 308, and may also adjust the position and angle of the laser welding head 307 to correct the welding deviation, ensure the stability and consistency of the welding quality, and enable it to better track the weld seam. When the welding is completed, the above structure of the laser welding head 307 returns to its original position to avoid collision with the hollow sphere or other components during subsequent operations and prepares for the next round of welding operations.

[0057] Embodiment 3: In the present invention, according to Figures 1 - 5 as shown, the hollow sphere clamping and docking assembly 4 includes:

[0058] an adsorption driver 401, a lateral drive electromagnetic rail 405, a control negative pressure regulator 4091, an adsorption clamping sphere holder 406, and a regulation motor 402. The adsorption driver 401 is installed inside the bottom end of the control negative pressure regulator 4091 and is used for adsorbing and clamping the hollow sphere. The regulation motor 402 is installed on the side of the housing of the control negative pressure regulator 4091 through a hoop. The bottom output end of the regulation motor 402 is connected to a first gear 403. A second gear 404 is meshed and connected to the side end of the first gear 403. The second gear 404 is sleeved outside the negative pressure communication pipe at the top end of the adsorption clamping sphere holder 406 and is used for driving the adsorption clamping sphere holder 406 to rotate and adjust in a circular trajectory. The lateral drive electromagnetic rail 405 is installed on the top side surface of the carrier plate 5. A positioning sliding seat 408 is slidably connected inside the top end of the lateral drive electromagnetic rail 405. A position sensor 407 is installed at the side end of the positioning sliding seat 408. A drive motor 409 is installed at the top side end of the positioning sliding seat 408. The output end of the drive motor 409 is connected to a right-angle rotation structure 4090.

[0059] 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.

[0060] Embodiment 4: In the present invention, according to Figures 1 - 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.

[0061] 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.

[0062] 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.

[0063] The wiring diagrams of the fine-tuning driver 303, semi-circular electromagnetic guide 304, laser generation control adjuster 308, laser focus calibrator 309, laser focus point generator 3091, micro-motion regulator 3091, electric control rotation adjustment structure 3092, weld prediction contact rod 3094, adsorption driver 401, regulation motor 402, position sensor 407, drive motor 409, control negative pressure regulator 4091, photoelectric sensor 602, and micro-driver 6092 in the present invention belong to the well-known common knowledge in the art. Their working principles are already known technologies, and their models are selected according to actual use. Therefore, the control methods and wiring arrangements will not be explained in detail herein.

[0064] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall 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; An automatic material guiding structure (8) is installed at the left and right ends of the support frame (1) and is used to automatically convey the hollow balls for subsequent butt welding; 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; 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).

2. The hollow ball automatic welding device according to claim 1 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.

3. The hollow ball automatic welding device according to claim 2 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.

4. The hollow ball automatic welding device according to claim 3 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).

5. The hollow ball automatic welding device according to claim 4 is 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).

6. The hollow ball automatic welding device according to claim 5, 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).

7. The hollow ball automatic welding device according to claim 6, 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).

8. A method for an automatic welding device for hollow balls, characterized in that: Using the hollow ball automatic welding device as claimed in claim 7 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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