Automatic tracking welding equipment and welding method

Abstract

An automatic tracking welding device for welding the side panels of a range hood comprises a welding platform, on which a first positioning platform and a second positioning platform are respectively provided, and above which a clamping mechanism is respectively provided, and a guide rail is fixedly provided at the front end of the welding frame, on which a welding mechanism is movably mounted, and the welding mechanism comprises a movable lifting mechanism and a tracking mechanism. A transfer clamping mechanism, a flipping mechanism, and a controller are also fixedly provided on the welding platform. The driving mechanism and the clamping mechanism respectively realize the splicing of the outer panel and the connecting panel on the first positioning platform, and the splicing of the connecting panel and the inner panel on the second positioning platform. This process replaces the traditional manual splicing of side panels and manual welding, and the tracking mechanism can automatically identify the weld seam trajectory, and can adjust the position and angle of the laser welding gun in real time according to the weld seam trajectory. This solution improves the production efficiency of the side panels and ensures the welding strength of the side panels.

Description

Technical Field

[0001] The present invention relates to the field of laser welding equipment, and in particular to automatic tracking welding equipment and a welding method. Background Art

[0002] Welding equipment mainly includes arc welders, laser welders, ultrasonic welders, pulse arc welders, etc. The selection of different welding equipment often depends on factors such as the specific welding task, material type, welding position and budget. The traditional method of welding the side panels of range hoods currently uses arc welders. However, due to the thickness of the side panels of range hoods, arc welding can easily damage the side panels during the welding process, and the welding efficiency is low.

[0003] The side panels of the range hood are components installed on both sides of the range hood, and they mainly serve the purpose of aesthetics and protection. They can effectively prevent the grease, smoke and water vapor generated during the cooking process from spreading to other areas of the kitchen, and also play a certain protective role for the mechanical components inside the range hood. In addition, the design of the side panels usually also takes into account the principles of aerodynamics, which helps to optimize the airflow direction and improve the efficiency of smoke exhaust. Secondly, the side panels of the range hood are generally made of easy-to-clean materials, such as stainless steel or coated metal, so that users can easily wipe and maintain them. Existing side panels are generally single-layer structures, and the side panels are formed by traditional stamping methods. Such side panels are prone to wear and corrosion during daily use and cleaning, which reduces the service life of the side panels. The present invention develops a double-layer side panel, which includes an outer panel, an inner panel and a connecting panel. For the sake of aesthetics, the outer panel and the inner panel are designed to be arc-shaped. However, the arc-shaped structure is prone to local wrinkles when stamped, so the side panels are often combined by splicing single panels and then welded together. Traditional welding requires manual splicing before and then manual welding. This not only has low splicing and welding efficiency, but also instability in manual welding, resulting in inconsistent welding effects at the welding locations, seriously affecting the quality of the side panels. Summary of the Invention

[0004] The purpose of the present invention is to replace the problem of low production efficiency of side panels caused by manual splicing and welding of traditional side panels.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic tracking welding device is used for welding the side panel of a range hood, wherein the side panel of the range hood is composed of an outer panel, an inner panel and a connecting panel, the automatic tracking welding device comprises a welding platform, a first positioning platform and a second positioning platform are respectively provided on the welding platform, straight slots are respectively provided on both sides of the first positioning platform and the second positioning platform, two fixed blocks are respectively fixed on both sides of the first positioning platform and the second positioning platform, a guide column is slidably fitted between the fixed blocks on each side, one side of the guide column is fixedly connected to a limiting column, a driving mechanism is respectively provided under the first positioning platform and the second positioning platform, the output end of each driving mechanism is movably connected to a swing arm, a first movable slot and a second movable slot are further provided on the swing arm, the second movable slot is movably fitted with the limiting column, and the first positioning platform and the second positioning platform are respectively provided above the first positioning platform and the second positioning platform. A clamping mechanism is provided, and the bottom of each clamping mechanism is fixedly connected to the guide column. A welding frame is also set up on the welding platform, and a guide rail is fixedly provided at the front end of the welding frame. The welding mechanism is movably mounted on the guide rail, and the welding mechanism includes a mobile lifting mechanism and a tracking mechanism, and the tracking mechanism is located below the mobile lifting mechanism; a transfer clamping mechanism, a flipping mechanism and a controller are also fixedly provided on the welding platform, and the flipping mechanism and the controller are located between the first positioning platform and the second positioning platform, and the transfer clamping mechanism is located between the first positioning platform and the connecting plate conveyor line, and the connecting plate conveyor line is fixedly provided on the welding platform and is located below the front end of the transfer clamping mechanism, and the controller is respectively connected to the driving mechanism, the clamping mechanism, the mobile lifting mechanism, the tracking mechanism, the transfer clamping mechanism and the flipping mechanism signals.

[0007] Preferably, a group of positioning blocks and a group of extrusion cylinders are provided on both the first positioning platform and the second positioning platform, and limit plates are mirror-imaged on the first positioning platform and the second positioning platform, one end of the limit plate is an arc-shaped structure, and a push plate is also fixedly provided at the telescopic end of each extrusion cylinder, and an anti-deformation top plate is also provided on the first positioning platform, and the anti-deformation top plate is located at the rear end of the limit plate.

[0008] Preferably, two driving mechanisms are provided, and each driving mechanism includes a support plate, a connecting column, a driving motor, a main gear, a sub-gear, a rotating shaft, a fixed plate, a rotating arm and a slider. The support plate is fixed on the welding platform, and connecting columns are fixed on both sides of the support plate. The connecting columns are movably connected to the bottom of the swing arm. The driving motor is fixedly arranged in the middle of the support plate, and the output end of the driving motor is equipped with a main gear. A fixed plate is provided on the inner side of each straight slot, and a rotating shaft is equipped between the fixed plates. The two output ends of the rotating shaft are fixedly equipped with rotating arms, and a sub-gear is also fixedly provided in the middle of the rotating shaft. The main gear and the sub-gear are connected by a chain. The rotating arm is located on the outside of the fixed plate, and the other end of the rotating arm is movably equipped with a slider, and the slider is movably equipped with the first movable groove.

[0009] Preferably, the pressing mechanism includes a top plate, an oblique support arm, an oblique slide groove, a movable rod, a pressure plate, a movable groove, a limiting channel, a sliding block and a pressing cylinder, the oblique support arms are fixed on both sides of the bottom of the top plate, the bottom of the oblique support arm is fixedly connected to the guide column, the inner side of the oblique support arm is provided with an oblique slide groove, the pressure plate is located below the top plate, movable rods are provided on both sides of the pressure plate, and one end of the movable rod extends into the oblique slide groove, the other end of the movable rod is movably connected to the pressure plate, a movable groove is provided in the middle of the upper part of the pressure plate, and limiting channels are also provided on both sides of the inner side of the movable groove, the sliding block is located in the movable groove, and both sides of the sliding block extend into the limiting channels, the upper part of the sliding block is connected to the telescopic end of the pressing cylinder, and the pressing cylinder is fixedly provided on the top plate.

[0010] Preferably, the mobile lifting mechanism includes a self-propelled device, a mobile cylinder, a guide rod, a laser welder, a baffle and a first lifting electric cylinder. The self-propelled device is mounted on a guide rail. The front end of the self-propelled device is fixedly provided with a mobile cylinder and two guide rods, wherein the front ends of the two guide rods are connected by a baffle. The laser welder is movably mounted on the two guide rods, and the top of the laser welder is also fixedly connected to the telescopic end of the mobile cylinder. The top of the laser welder is also fixedly provided with a first lifting electric cylinder, and the telescopic end of the first lifting electric cylinder passes through the laser welder and is connected to the tracking mechanism.

[0011] Preferably, the tracking mechanism includes a mounting seat, a limit pin, a fan-shaped movable plate, an arc limit slot, an adjusting motor, an adjusting gear, a hinge rod, a connecting ear plate, a traction rod, a laser welding gun and a tracking probe, the mounting seat is fixedly connected to the telescopic end of the first lifting electric cylinder, the limit pin is fixedly installed on the mounting seat, one end of the limit pin extends into the arc limit slot, the fan-shaped movable plate is provided with an arc limit slot on the side close to the mounting seat, and the bottom edge of the fan-shaped movable plate is a toothed structure, the adjusting motor is fixedly mounted on one side of the mounting seat, and the output end of the adjusting motor passes through the mounting seat, and the protruding part is equipped with an adjusting gear, the adjusting gear is meshed with the bottom edge of the fan-shaped movable plate, the mounting seat is also fixedly provided with a hinge rod, the hinge rod is located below the adjusting gear, the laser welding gun is movably connected to the hinge rod through the connecting ear plate, the traction rod is also fixed on the fan-shaped movable plate, the traction rod is also connected to the top of the laser welding gun, a tracking probe is also movably provided on the inner side of the laser welding gun, and the laser welding gun is connected to the laser welder.

[0012] Preferably, the transfer and clamping mechanism includes an electric turntable, a connecting seat, a horizontal plate, a pushing cylinder, a movable seat, a second lifting electric cylinder, a vertical guide rod, a clamping seat, a finger clamp and a laser probe. The connecting seat is fixedly installed on the electric turntable, and the movable seat is slidably mounted on the connecting seat. Two vertical guide rods are fixed on both sides of the front end of the movable seat, and the clamping seat is movably mounted on the two vertical guide rods. Two finger clamps are fixedly installed on the bottom of the clamping seat, and a laser probe is also fixedly provided at the front end of the clamping seat. A second lifting electric cylinder is fixedly provided on the top of the movable seat, and the telescopic end of the second lifting electric cylinder is fixedly connected to the top of the clamping seat. The horizontal plate is also fixed on the connecting seat, and the pushing cylinder is also fixed on the horizontal plate, and the telescopic end of the pushing cylinder is fixedly connected to the rear end of the movable seat.

[0013] Preferably, the flip mechanism includes a flip electric cylinder, a moving column, a support base, a tooth plate, a rotating gear, a flip shaft, a flip frame, a rotating plate, a telescopic arm, a telescopic electric cylinder, a flip plate, an ear plate, a push-pull electric cylinder, a pneumatic adsorber and an adsorption nozzle. The flip electric cylinder is fixed on the welding platform, and a support base is provided at the rear end of the flip electric cylinder. A tooth plate is movably provided on the top of the support base. The bottom of the tooth plate is fixedly connected to the moving column. The other end of the moving column is fixedly connected to the telescopic end of the flip electric cylinder. A flip frame is provided at the rear end of the support base. It is equipped with a flip shaft, and a rotating gear is fixed at one end of the flip shaft close to the tooth plate. The rotating gear is engaged with the tooth plate. A rotating plate is fixed on the flip shaft, and telescopic arms are movably equipped on both sides of the rotating plate. The ends of the two telescopic arms are fixedly connected to the two sides of the flip plate, and the two telescopic arms are fixedly connected through ear plates. The ear plates are fixedly connected to the telescopic ends of the push-pull electric cylinder, and the push-pull electric cylinder is fixed on the rotating plate. A pneumatic adsorber is fixed on the upper part of the flip plate, and a number of adsorption nozzles are equipped on the lower part of the flip plate, and the pneumatic adsorber is respectively connected to each adsorption nozzle.

[0014] Preferably, an alarm is also provided on the upper part of the controller, and an adjustment seat is also provided on the bottom of the welding platform, and the number of the adjustment seats is not less than six.

[0015] Preferably, the present invention also provides a welding method of an automatic tracking welding device, comprising the following steps:

[0016] S1: Welding preparation: First, the controller controls the drive mechanism under the first positioning table to work. Under the action of the drive mechanism, the clamping mechanism moves backward as a whole. During the movement of the clamping mechanism, the pressure plate also starts to move upward under the action of the controller, so that the first positioning table is open to facilitate the placement of the outer plate;

[0017] S2: Transfer and compaction. The controller controls the external robotic arm to transfer the outer plate to the first positioning platform. At this time, the outer plate opening faces downward, and the outer inner wall of the outer plate contacts the anti-deformation top plate. Then the controller controls the transfer clamping mechanism to transfer the connecting plate on the connecting plate conveyor line to between the limit plate and the anti-deformation top plate. Then the controller controls the extrusion cylinder to work and push the outer plate until the welding end of the outer plate is in tight contact with the connecting plate. Then the controller controls the driving mechanism to work in the reverse direction. The clamping mechanism moves forward as a whole, and the pressing plate gradually moves downward for compaction to prevent dislocation during the welding process.

[0018] S3: Once welding is completed, after compaction is completed, the controller controls the mobile lifting mechanism to move to the specified position, and then the tracking mechanism automatically identifies the welding seam, that is, the contact gap between the outer plate and the upper part of the connecting plate. The tracking probe identifies the welding gap position and distance, and then transmits it to the controller. The controller controls the movement and angle adjustment of the laser welding gun at any time to automatically track welding;

[0019] S4: Flipping. After the gap welding between the outer plate and the connecting plate is completed, the controller first controls the pressing plate to return to the initial position, and then controls the flipping mechanism to transfer the welded outer plate to the second positioning table. During the flipping process, the welding part between the outer plate and the connecting plate is located at the bottom, which facilitates welding of the contact gap between the inner plate and the connecting plate.

[0020] S5: Secondary welding. Secondary welding mainly welds the gap between the inner plate and the connecting plate. After the welded outer plate is transferred to the second positioning table, the controller controls the external robotic arm to transfer the inner plate onto the outer plate, and then presses the inner plate onto the outer plate. Then, the mobile lifting mechanism is controlled to move to the specified position. Under the tracking action of the tracking probe, the gap between the connecting plate and the inner plate is automatically welded, so that both contact gaps are welded.

[0021] The beneficial effects of the present invention are:

[0022] The present invention realizes the splicing of the outer panel and the connecting panel on the first positioning platform and the splicing of the connecting panel and the inner panel on the second positioning platform by controlling the driving mechanism and the clamping mechanism, so that the side panel splicing group is formed into a whole, and then laser tracking welding is performed. In this process, the gap between the outer panel and the connecting panel is first tracked and welded by the controller, and then the outer panel is flipped by the flipping mechanism, and the gap between the inner panel and the connecting panel is tracked and welded on the second positioning platform. This process replaces the traditional manual splicing of side panels and manual welding, and the welding seam trajectory can be automatically identified by the tracking mechanism. During the mobile welding process, the position and angle of the laser welding gun can be adjusted in real time according to the welding seam trajectory. This process not only improves the production efficiency of the side panels, but also ensures the welding strength of the welding seam and the welding quality of the side panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of an automatic tracking welding device;

[0024] Figure 2 It is a structural diagram of the side panel of the range hood;

[0025] Figure 3 This is a top view of the structure of an automatic tracking welding device;

[0026] Figure 4 This is a front view structural diagram of an automatic tracking welding device;

[0027] Figure 5 This is a side structural diagram of an automatic tracking welding device;

[0028] Figure 6 This is another side view of the structure of an automatic tracking welding device;

[0029] Figure 7 Figure 1 is a structural diagram of the mobile lifting mechanism;

[0030] Figure 8 for Figure 5 A magnified structural diagram of the middle part A;

[0031] Figure 9 for Figure 6 Enlarged structural diagram of part B in the middle;

[0032] Figure 10 It is the structural diagram of the pressing mechanism;

[0033] Figure 11 It is a structural diagram of the transfer clamping mechanism;

[0034] Figure 12 It is the structural diagram of the flip mechanism;

[0035] Figure: outer plate a, inner plate b, connecting plate c, welding platform 1, first positioning platform 2, second positioning platform 3, straight notch 4, fixing block 5, guide column 6, limit column 7, driving mechanism 8, swing arm 9, first movable groove 10, second movable groove 11, pressing mechanism 12, welding frame 13, guide rail 14, welding mechanism 15, mobile lifting mechanism 150, tracking mechanism 151, transfer clamping mechanism 16, flipping mechanism 17, controller 18, connecting plate conveyor line 19, positioning block 20, extrusion cylinder 21, limit plate 22, push plate 23, anti-deformation top plate 24, limit plate 25, alarm 26, adjustment seat 27, support plate 80, connecting column 81, drive motor 82, main gear 83, sub-gear 84, rotating shaft 85, fixed plate 86, rotating arm 87, slider 88, top plate 120, oblique support arm 121, oblique slide 122, movable rod 123, pressure plate 124, moving groove 125, limit channel 126, sliding block 127, pressing cylinder 128, self-propelled device 1500, moving cylinder 1 501, guide rod 1502, laser welder 1503, baffle 1504, first lifting cylinder 1505, mounting base 1510, limit pin 1511, fan-shaped moving plate 1512, arc-shaped limit groove 1513, adjustment motor 1514, adjustment gear 1515, hinged rod 1516, connecting ear plate 1517, traction rod 1518, laser welding gun 1519, tracking probe 15190, electric turntable 160, connecting base 161, horizontal plate 162, push cylinder 163, moving base 164, the second lifting electric cylinder 165, the vertical guide rod 166, the clamping seat 167, the finger clamp 168, the laser probe 169, the flip electric cylinder 1700, the moving column 1701, the support seat 1702, the gear plate 1703, the rotating gear 1704, the flip shaft 1705, the flip frame 1706, the rotating plate 1707, the telescopic arm 1708, the telescopic electric cylinder 1709, the flip plate 1710, the ear plate 1711, the push-pull electric cylinder 1712, the pneumatic adsorber 1713 and the adsorption nozzle 1714. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0038] Example 1:

[0039] See Figures 1-6 , an automatic tracking welding equipment for welding side panels of range hoods, wherein the side panels of range hoods are composed of outer panel a, inner panel b and connecting panel c. The automatic tracking welding equipment includes a welding platform 1, a first positioning platform 2 and a second positioning platform 3 are respectively provided on the welding platform 1, the first positioning platform 2 completes the welding of the outer panel a and the connecting panel c, and the second positioning platform 3 completes the welding of the inner panel b and the connecting panel c, a straight slot 4 is respectively provided on both sides of the first positioning platform 2 and the second positioning platform 3, two fixing blocks 5 are respectively fixed on both sides of the first positioning platform 2 and the second positioning platform 3, a guide column 6 is slidably fitted between the fixing blocks 5 on each side, one side of the guide column 6 is fixedly connected to the limiting column 7, a driving mechanism 8 is respectively provided under the first positioning platform 2 and the second positioning platform 3, the output end of each driving mechanism 8 is movably connected to the swing arm 9, the swing arm 9 is further provided with a first movable slot 10 and a second movable slot 11, the second movable slot 11 is movably fitted with the limiting column 7, the first positioning platform 2 and the second positioning platform A clamping mechanism 12 is respectively arranged above the platform 3, and the bottom of each clamping mechanism 12 is fixedly connected to the guide column 6. A welding frame 13 is also set on the welding platform 1, and a guide rail 14 is fixedly arranged at the front end of the welding frame 13. A welding mechanism 15 is movably mounted on the guide rail 14, and the welding mechanism 15 includes a movable lifting mechanism 150 and a tracking mechanism 151, and the tracking mechanism 151 is located below the movable lifting mechanism 150; a transfer clamping mechanism 16, a flipping mechanism 17 and a controller 18 are also fixedly arranged on the welding platform 1, and the flipping mechanism 17 and the controller 18 are located between the first positioning platform 2 and the second positioning platform 3, and the transfer clamping mechanism 16 is located between the first positioning platform 2 and the connecting plate conveyor line 19, and the connecting plate conveyor line 19 is fixedly arranged on the welding platform 1 and is located at the front end of the transfer clamping mechanism 16, and the controller 18 is respectively connected to the driving mechanism 8, the clamping mechanism 12, the movable lifting mechanism 150, the tracking mechanism 151, the transfer clamping mechanism 16 and the flipping mechanism 17 by signal.

[0040] A set of positioning blocks 20 and a set of extrusion cylinders 21 are provided on both the first positioning platform 2 and the second positioning platform 3. A limit plate 22 is provided on each of the first and second positioning platforms 2 and 3 in mirror image. One end of the limit plate 22 is an arc-shaped structure. A push plate 23 is fixedly provided at the telescopic end of each extrusion cylinder 21. The first positioning platform 2 is also provided with an anti-deformation top plate 24, which is located at the rear end of the limit plate 22. The positioning blocks 20 mainly serve as a limit. During operation, the transfer clamping mechanism 16 clamps and transfers the connecting plate c between the limit plate 22 and the anti-deformation top plate 24. Then, the extrusion cylinder 21 pushes the outer plate a toward the connecting plate c. When the first positioning platform 2 is welded, the outer plate a is open downward. At this time, the inner wall of the outer plate a contacts the top of the anti-deformation top plate 24. As the push plate 23 moves, the welding edge of the outer plate a contacts the upper part of the connecting plate c. The anti-deformation top plate 24 supports the outer plate a, ensuring that the outer plate a does not deform during the compaction process.

[0041] See Figure 4-Figure 6 , the driving mechanism 8 is provided with two, and each driving mechanism 8 includes a support plate 80, a connecting column 81, a driving motor 82, a main gear 83, a sub-gear 84, a rotating shaft 85, a fixed plate 86, a rotating arm 87 and a slider 88. The support plate 80 is fixed on the welding platform 1, and the connecting columns 81 are fixed on both sides of the support plate 80. The connecting column 81 is movably connected to the bottom of the swing arm 9. The driving motor 82 is fixed in the middle of the support plate 80, and the output end of the driving motor 82 is equipped with the main gear 83. A fixed plate 86 is provided on the inner side of each straight slot 4, and a rotating shaft 85 is provided between the two fixed plates 86. The two output ends of the rotating shaft 85 are fixedly equipped with a rotating arm 87, and a sub-gear 84 is also fixed in the middle of the rotating shaft 85. The main gear 83 and the sub-gear 84 are connected by a chain. The rotating arm 87 is located on the outer side of the fixed plate 86, and the other end of the rotating arm 87 is movably equipped with a slider 88, and the slider 88 is movably equipped with the first movable slot 10. When the driving motor 82 rotates, the rotating arms 87 at both ends of the rotating shaft 85 will rotate. When the rotating arms 87 are horizontal, the upper part of the swing arm 9 reaches the maximum angle. At this time, the clamping mechanism 12 reaches the rear end, even if the first positioning platform 2 or the second positioning platform 3 is exposed to the outside, so that it is convenient to place the outer plate a or the inner plate b in the corresponding position. The driving mechanism 8 is mainly used to drive the clamping mechanism 12 to move left and right.

[0042] See Figure 10The clamping mechanism 12 includes a top plate 120, an oblique support arm 121, an oblique slide 122, a movable rod 123, a pressing plate 124, a movable groove 125, a limiting channel 126, a sliding block 127 and a clamping cylinder 128. The oblique support arms 121 are fixed on both sides of the bottom of the top plate 120. The bottom of the oblique support arm 121 is fixedly connected to the guide column 6. The inner side of the oblique support arm 121 is provided with an oblique slide 122. The pressing plate 124 is located below the top plate 120. Active rods 123 are provided on both sides of the pressing plate 124. One end of the movable rod 123 extends into the inclined sliding groove 122, and the other end of the movable rod 123 is movably connected to the pressing plate 124. A movable groove 125 is provided in the middle of the upper part of the pressing plate 124, and limiting channels 126 are also provided on both sides of the inner part of the movable groove 125. The sliding block 127 is located in the movable groove 125, and both sides of the sliding block 127 extend into the limiting channels 126. The upper part of the sliding block 127 is connected to the telescopic end of the pressing cylinder 128, and the pressing cylinder 128 is fixedly arranged on the top plate 120. During the movement process, the pressing mechanism 12 can also move up and down under the action of the controller 18. During the downward movement process, the pressing cylinder 128 pushes the pressing plate 124 to move downward, and the sliding block 127 moves in the movable groove 125 but does not disengage. The pressing plate 124 moves along the direction of the oblique support arm 121. The downward movement process is a compaction process. The purpose of compaction is to prevent the weld seam from being dislocated or becoming larger or smaller during the welding process.

[0043] See Figure 7-Figure 9 The mobile lifting mechanism 150 includes a self-propelled device 1500, a mobile cylinder 1501, a guide rod 1502, a laser welder 1503, a baffle 1504 and a first lifting electric cylinder 1505. The self-propelled device 1500 is mounted on the guide rail 14. The front end of the self-propelled device 1500 is fixed with a mobile cylinder 1501 and two guide rods 1502, wherein the front ends of the two guide rods 1502 are connected by a baffle 1504. The laser welder 1503 is movably mounted on the two guide rods 1502, and the top of the laser welder 1503 is also fixedly connected to the telescopic end of the mobile cylinder 1501. The top of the laser welder 1503 is also fixedly provided with a first lifting electric cylinder 1505, and the telescopic end of the first lifting electric cylinder 1505 passes through the laser welder 1503 and is connected to the tracking mechanism 151. The movable lifting mechanism 150 can move back and forth along the guide rail 14 under the control of the controller 18, and can also control the tracking mechanism 151 to move up or down.

[0044] The tracking mechanism 151 includes a mounting seat 1510, a limiting pin 1511, a fan-shaped movable plate 1512, an arc-shaped limiting groove 1513, an adjusting motor 1514, an adjusting gear 1515, a hinged rod 1516, a connecting ear plate 1517, a traction rod 1518, a laser welding gun 1519 and a tracking probe 15190. The mounting seat 1510 is fixedly connected to the telescopic end of the first lifting cylinder 1505. The limiting pin 1511 is fixedly installed on the mounting seat 1510, and one end of the limiting pin 1511 extends into the arc-shaped limiting groove 1513. The fan-shaped movable plate 1512 is provided with an arc-shaped limiting groove 1513 on one side close to the mounting seat 1510, and the bottom edge of the fan-shaped movable plate 1512 is a tooth-shaped structure. The adjusting motor 1514 is fixedly installed On one side of the mounting seat 1510, the output end of the adjusting motor 1514 passes through the mounting seat 1510, and the protruding part is equipped with an adjusting gear 1515, and the adjusting gear 1515 is engaged with the bottom edge of the fan-shaped movable plate 1512. A hinged rod 1516 is also fixed on the mounting seat 1510, and the hinged rod 1516 is located below the adjusting gear 1515. The laser welding gun 1519 is movably connected to the hinged rod 1516 through the connecting ear plate 1517. A traction rod 1518 is also fixed on the fan-shaped movable plate 1512, and the traction rod 1518 is also connected to the top of the laser welding gun 1519. A tracking probe 15190 is also movably set on the inner side of the laser welding gun 1519, and the laser welding gun 1519 is connected to the laser welder 1503.

[0045] Tracking principle:

[0046] In the process of identifying the welding seam, the controller 18 first controls the adjustment motor 1514 to work, and the adjustment motor 1514 will drive the fan-shaped movable plate 1512 to rotate. During the rotation, the traction rod 1518 will drive the laser welding gun 1519 to rotate around the hinge rod 1516. In this way, when the tracking probe 15190 detects the welding seam, it will transmit the horizontal and vertical distance information to the controller 18. The controller 18 will control the self-propelled vehicle 1500 and the first lifting electric cylinder 1505 to work respectively. This process detects the trajectory changes in real time, thereby tracking the welding seam and performing welding under the action of the laser welding gun 1519.

[0047] See Figure 11The transfer clamping mechanism 16 includes an electric turntable 160, a connecting seat 161, a horizontal plate 162, a pushing cylinder 163, a movable seat 164, a second lifting cylinder 165, a vertical guide rod 166, a clamping seat 167, a finger clamp 168 and a laser probe 169. The connecting seat 161 is fixedly installed on the electric turntable 160, and the movable seat 164 is slidably mounted on the connecting seat 161. Two vertical guide rods 166 are fixed on both sides of the front end of the movable seat 164, and the two vertical guide rods 166 are movably mounted on the clamping seat. 167. Two finger clamps 168 are fixedly installed on the bottom of the clamping seat 167. A laser probe 169 is also fixedly set on the front end of the clamping seat 167. A second lifting electric cylinder 165 is fixedly set on the top of the moving seat 164. The telescopic end of the second lifting electric cylinder 165 is fixedly connected to the top of the clamping seat 167. A horizontal plate 162 is also fixed on the connecting seat 161. A pushing cylinder 163 is also fixed on the horizontal plate 162. The telescopic end of the pushing cylinder 163 is fixedly connected to the rear end of the moving seat 164. First, the laser probe 169 detects the connecting plate c, and then the controller 18 controls the second lifting cylinder 165 to move downward. After moving to the specified position, the finger clamp 168 clamps the connecting plate c, and then lifts it away from the connecting plate conveyor line 19. Then the electric turntable 160 rotates 180 degrees and places the connecting plate c between the limit plate 22 and the anti-deformation top plate 24, wherein the push cylinder 163 adjusts the position of the movable seat 164, and the movable seat 164 slides on the connecting seat 161.

[0048] See Figure 12, the flip mechanism 17 includes a flip cylinder 1700, a moving column 1701, a support base 1702, a tooth plate 1703, a rotating gear 1704, a flip shaft 1705, a flip frame 1706, a rotating plate 1707, a telescopic arm 1708, a telescopic electric cylinder 1709, a flip plate 1710, an ear plate 1711, a push-pull electric cylinder 1712, a pneumatic adsorber 1713 and an adsorption nozzle 1714, the flip cylinder 1700 is fixed on the welding platform 1, and a support base 1702 is provided at the rear end of the flip cylinder 1700, a tooth plate 1703 is movably provided on the top of the support base 1702, the bottom of the tooth plate 1703 is fixedly connected to the moving column 1701, the other end of the moving column 1701 is fixedly connected to the telescopic end of the flip cylinder 1700, a flip frame 1706 is provided at the rear end of the support base 1702, and the flip frame 1 A flip shaft 1705 is movably mounted on 706, and a rotating gear 1704 is fixed to one end of the flip shaft 1705 close to the tooth plate 1703, and the rotating gear 1704 is engaged with the tooth plate 1703. A rotating plate 1707 is fixed on the flip shaft 1705, and telescopic arms 1708 are movably mounted on both sides of the rotating plate 1707. The ends of the two telescopic arms 1708 are fixedly connected to both sides of the flip plate 1710, and the two telescopic arms 1708 are fixedly connected via an ear plate 1711, and the ear plate 1711 is fixedly connected to the telescopic end of the push-pull electric cylinder 1712, and the push-pull electric cylinder 1712 is fixed on the rotating plate 1707. A pneumatic adsorber 17133 is fixed to the upper part of the flip plate 1710, and a plurality of adsorption nozzles 1714 are mounted on the lower part of the flip plate 1710, and the pneumatic adsorber 1713 is respectively connected to each adsorption nozzle 1714.

[0049] Flipping process:

[0050] First, after the welding of the outer plate a and the connecting plate c is completed, the flipping electric cylinder 1700 works. At this time, the tooth plate 1703 is at the rightmost end of the support seat 1702. The controller 18 controls the telescopic electric cylinder 1709 to push the pneumatic absorber 1713 to the top of the first positioning platform 2. At this time, the pneumatic absorber 1713 works, so that the suction nozzle 1714 sucks up the welded outer plate a, and then the flipping electric cylinder 1700 contracts, so that the tooth plate 1703 slides to the left. During the sliding process, the rotating plate 1707 will rotate, which will flip the welded outer plate a over. When approaching the second positioning platform 3, the pneumatic absorber 1713 stops working, so that the outer plate a tilts and slides toward the second positioning platform 3. This process realizes the flipping of the outer plate a, so that the welding seam between the outer plate a and the connecting plate c is located at the bottom, which is convenient for welding the gap between the inner plate b and the connecting plate c.

[0051] An alarm 26 is further provided on the upper portion of the controller 18 , and an adjustment seat 27 is further provided on the bottom portion of the welding platform 1 , and the number of the adjustment seats 27 is no less than six.

[0052] The present invention also provides a welding method of an automatic tracking welding device, comprising the following steps:

[0053] S1: Welding preparation: First, the controller 18 controls the drive mechanism 8 below the first positioning platform 2 to operate. Under the action of the drive mechanism 8, the clamping mechanism 12 moves backward as a whole. During the movement of the clamping mechanism 12, the pressing plate 124 also starts to move upward under the action of the controller 18, so that the upper part of the first positioning platform 2 is open, which is convenient for the robot arm to place the outer plate a;

[0054] S2: Transfer and compaction, the controller 18 controls the external robotic arm to transfer the outer plate a to the first positioning platform 2, at this time the outer plate a is opened downward, and the outer inner wall of the outer plate a is in contact with the anti-deformation top plate 24, and then the controller 18 controls the transfer clamping mechanism 16 to clamp and transfer the connecting plate c on the connecting plate conveyor line 19 to between the limit plate 22 and the anti-deformation top plate 24, and then the controller 18 controls the extrusion cylinder 21 to work, pushing the outer plate a until the welding end of the outer plate a is in tight contact with the connecting plate c, and then the controller 18 controls the driving mechanism 8 to work in the opposite direction, so that the clamping mechanism 12 moves forward as a whole, and the pressing plate 124 gradually moves downward and compacts, ensuring that the outer plate a and the connecting plate c to be welded are aligned and close together to prevent dislocation during the welding process;

[0055] S3: After the compaction is completed, the controller 18 controls the movable lifting mechanism 150 to move to the designated position. The tracking mechanism 151 then automatically identifies the weld seam, i.e., the contact gap between the outer plate a and the upper portion of the connecting plate c. The tracking probe 15190 identifies the weld seam position and distance and transmits the information to the controller 18. The controller 18 controls the movement and angle adjustment of the laser welding gun 1519 at any time to automatically perform tracking welding.

[0056] S4: Flipping. After the gap welding between the outer plate a and the connecting plate c is completed, the controller 18 first controls the pressing plate 124 to return to the initial position, and then controls the flipping mechanism 17 to transfer the welded outer plate a to the second positioning table 3. During the flipping process, the welding portion between the outer plate a and the connecting plate c is located at the bottom, which facilitates welding of the contact gap between the inner plate b and the connecting plate c.

[0057] S5: Secondary welding. Secondary welding is mainly performed on the gap between the inner plate b and the connecting plate c. After the welded outer plate a is transferred to the second positioning platform 3, the controller 18 controls the external robotic arm to transfer the inner plate b onto the outer plate a, and then presses the inner plate b onto the outer plate a. Then, the mobile lifting mechanism 150 is controlled to move to the specified position. Under the tracking action of the tracking probe 15190, the gap between the connecting plate c and the inner plate b is automatically welded, so that the upper and lower contact gaps of the connecting plate c can be welded.

[0058] The above are merely preferred embodiments of the present invention and do not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An automatic tracking welding device for welding the side panels of a range hood, wherein the side panels of the range hood are composed of an outer panel a, an inner panel b, and a connecting panel c, characterized in that: The automatic tracking welding equipment comprises a welding platform (1), a first positioning platform (2) and a second positioning platform (3) are respectively provided on the welding platform (1), straight slots (4) are respectively provided on both sides of the first positioning platform (2) and the second positioning platform (3), two fixed blocks (5) are respectively fixedly provided on both sides of the first positioning platform (2) and the second positioning platform (3), a guide column (6) is slidably mounted between the fixed blocks (5) on each side, one side of the guide column (6) is fixedly connected to a limit column (7), the first positioning platform (2) A driving mechanism (8) is provided below the first positioning platform (2) and the second positioning platform (3), and the output end of each driving mechanism (8) is movably connected to the swing arm (9). The swing arm (9) is also provided with a first movable groove (10) and a second movable groove (11). The second movable groove (11) is movably assembled with the limiting column (7). A clamping mechanism (12) is provided above the first positioning platform (2) and the second positioning platform (3), and the bottom of each clamping mechanism (12) is fixedly connected to the guide column (6). A welding platform (1) is also provided on the welding platform (1). The welding frame (13) is provided with a guide rail (14) fixedly arranged at the front end thereof, and a welding mechanism (15) is movably mounted on the guide rail (14), and the welding mechanism (15) comprises a movable lifting mechanism (150) and a tracking mechanism (151), and the tracking mechanism (151) is located below the movable lifting mechanism (150); the welding platform (1) is also provided with a transfer clamping mechanism (16), a flipping mechanism (17) and a controller (18), and the flipping mechanism (17) and the controller (18) are fixedly arranged on the welding platform (1). Located between the first positioning platform (2) and the second positioning platform (3), the transfer clamping mechanism (16) is located between the first positioning platform (2) and the connecting plate conveying line (19), the connecting plate conveying line (19) is fixedly arranged on the welding platform (1) and is located at the front end of the transfer clamping mechanism (16), and the controller (18) is respectively connected to the driving mechanism (8), the pressing mechanism (12), the moving lifting mechanism (150), the tracking mechanism (151), the transfer clamping mechanism (16) and the flipping mechanism (17) by signal.

2. The automatic tracking welding equipment according to claim 1, characterized in that: A group of positioning blocks (20) and a group of extrusion cylinders (21) are both provided on the first positioning platform (2) and the second positioning platform (3), and a limiting plate (22) is provided on the first positioning platform (2) and the second positioning platform (3) in a mirror-image manner, one end of the limiting plate (22) is an arc-shaped structure, and a push plate (23) is fixedly provided at the telescopic end of each extrusion cylinder (21), and an anti-deformation top plate (24) is also provided on the first positioning platform (2), and the anti-deformation top plate (24) is located at the rear end of the limiting plate (22).

3. The automatic tracking welding equipment according to claim 1, characterized in that: Two driving mechanisms (8) are provided, and each driving mechanism (8) comprises a support plate (80), a connecting column (81), a driving motor (82), a main gear (83), a sub-gear (84), a rotating shaft (85), a fixing plate (86), a rotating arm (87) and a sliding block (88), wherein the support plate (80) is fixed on the welding platform (1), connecting columns (81) are fixed on both sides of the support plate (80), the connecting columns (81) are movably connected to the bottom of the swing arm (9), a driving motor (82) is fixed in the middle of the support plate (80), and the driving motor (82) is fixed in the middle of the support plate (80), and the driving motor (8 2) is equipped with a main gear (83), a fixed plate (86) is provided on the inner side of each straight slot (4), and a rotating shaft (85) is provided between the two fixed plates (86), the two output ends of the rotating shaft (85) are fixedly equipped with rotating arms (87), a sub-gear (84) is also fixedly provided in the middle of the rotating shaft (85), the main gear (83) and the sub-gear (84) are connected by a chain, the rotating arm (87) is located on the outer side of the fixed plate (86), and the other end of the rotating arm (87) is movably equipped with a slider (88), and the slider (88) is movably equipped with the first movable groove (10).

4. The automatic tracking welding equipment according to claim 1, characterized in that: The clamping mechanism (12) comprises a top plate (120), an oblique support arm (121), an oblique slide groove (122), a movable rod (123), a pressure plate (124), a movable groove (125), a limiting channel (126), a sliding block (127) and a clamping cylinder (128). The oblique support arms (121) are fixed on both sides of the bottom of the top plate (120). The bottom of the oblique support arm (121) is fixedly connected to the guide column (6). The inner side of the oblique support arm (121) is provided with an oblique slide groove (122). The pressure plate (124) is located below the top plate (120). The movable rods (123) are provided on both sides of the pressure plate (124). 3), and the outer side of one end of the movable rod (123) extends into the inclined sliding groove (122), the inner side of the other end of the movable rod (123) is movably connected to the pressure plate (124), a movable groove (125) is provided in the middle of the upper part of the pressure plate (124), and limiting channels (126) are also provided on both sides of the interior of the movable groove (125), the sliding block (127) is located in the movable groove (125), and both sides of the sliding block (127) extend into the limiting channels (126), the upper part of the sliding block (127) is connected to the telescopic end of the pressing cylinder (128), and the pressing cylinder (128) is fixedly arranged on the top plate (120).

5. The automatic tracking welding equipment according to claim 1, characterized in that: The mobile lifting mechanism (150) includes a self-propelled vehicle (1500), a moving cylinder (1501), a guide rod (1502), a laser welder (1503), a baffle (1504) and a first lifting electric cylinder (1505). The self-propelled vehicle (1500) is mounted on a guide rail (14). The front end of the self-propelled vehicle (1500) is fixed with a moving cylinder (1501) and two guide rods (1502). The front ends of the two guide rods (1502) are fixed with a moving cylinder (1501). The ends are connected through a baffle (1504), the laser welder (1503) is movably mounted on two guide rods (1502), and the top of the laser welder (1503) is also fixedly connected to the telescopic end of the movable cylinder (1501), and the top of the laser welder (1503) is also fixedly provided with a first lifting electric cylinder (1505), the telescopic end of the first lifting electric cylinder (1505) passes through the laser welder (1503) and is connected to the tracking mechanism (151).

6. The automatic tracking welding equipment according to claim 5, characterized in that: The tracking mechanism (151) comprises a mounting seat (1510), a limiting pin (1511), a fan-shaped movable plate (1512), an arc-shaped limiting groove (1513), an adjustment motor (1514), an adjustment gear (1515), a hinged rod (1516), a connecting ear plate (1517), a traction rod (1518), a laser welding gun (1519) and a tracking probe (15190). The mounting seat (1510) is connected to the first lifting The telescopic end of the electric cylinder (1505) is fixedly connected, a limiting pin (1511) is fixedly installed on the mounting seat (1510), one end of the limiting pin (1511) extends into the arc-shaped limiting groove (1513), the fan-shaped movable plate (1512) is provided with an arc-shaped limiting groove (1513) on one side close to the mounting seat (1510), and the bottom edge of the fan-shaped movable plate (1512) is a tooth-shaped structure, and the regulating motor (1514) is fixed. The adjusting motor (1514) is mounted on one side of the mounting base (1510), and the output end of the adjusting motor (1514) passes through the mounting base (1510), and the protruding portion is equipped with an adjusting gear (1515), and the adjusting gear (1515) is engaged with the bottom edge of the fan-shaped movable plate (1512). A hinge rod (1516) is also fixed on the mounting base (1510), and the hinge rod (1516) is located below the adjusting gear (1515). The laser welding gun (1519) is movably connected to the hinged rod (1516) via a connecting ear plate (1517); a traction rod (1518) is also fixed on the fan-shaped movable plate (1512); the traction rod (1518) is also connected to the top of the laser welding gun (1519); a tracking probe (15190) is also movably provided on the inner side of the laser welding gun (1519); and the laser welding gun (1519) is connected to the laser welder (1503).

7. The automatic tracking welding equipment according to claim 1, characterized in that: The transfer clamping mechanism (16) comprises an electric turntable (160), a connecting seat (161), a horizontal plate (162), a pushing cylinder (163), a movable seat (164), a second lifting electric cylinder (165), a vertical guide rod (166), a clamping seat (167), a finger clamp (168) and a laser probe (169). The connecting seat (161) is fixedly mounted on the electric turntable (160), the movable seat (164) is slidably mounted on the connecting seat (161), two vertical guide rods (166) are fixed on both sides of the front end of the movable seat (164), and the two vertical guide rods (166) are movably mounted with clamps. The holding seat (167) has two finger clamps (168) fixedly installed at the bottom of the clamping seat (167), a laser probe (169) is also fixedly set at the front end of the clamping seat (167), a second lifting electric cylinder (165) is fixedly set at the top of the movable seat (164), the telescopic end of the second lifting electric cylinder (165) is fixedly connected to the top of the clamping seat (167), a horizontal plate (162) is also fixed on the connecting seat (161), and a pushing cylinder (163) is also fixed on the horizontal plate (162), and the telescopic end of the pushing cylinder (163) is fixedly connected to the rear end of the movable seat (164).

8. The automatic tracking welding equipment according to claim 1, characterized in that: The flip mechanism (17) includes a flip electric cylinder (1700), a movable column (1701), a support seat (1702), a tooth plate (1703), a rotating gear (1704), a flip shaft (1705), a flip frame (1706), a rotating plate (1707), a telescopic arm (1708), a telescopic electric cylinder (1709), a flip plate (1710), an ear plate (1711), a push-pull electric cylinder (1712), a pneumatic adsorber (1713) and an adsorption nozzle (1714). The flip electric cylinder (1700) is fixed on the welding platform (1), and a support seat (1702) is provided at the rear end of the flip electric cylinder (1700), a tooth plate (1703) is movably provided on the top of the support seat (1702), the bottom of the tooth plate (1703) is fixedly connected to the moving column (1701), the other end of the moving column (1701) is fixedly connected to the telescopic end of the flip electric cylinder (1700), a flip frame (1706) is provided at the rear end of the support seat (1702), and the flip A flip shaft (1705) is movably mounted on the frame (1706), a rotating gear (1704) is fixed to one end of the flip shaft (1705) close to the tooth plate (1703), the rotating gear (1704) is meshed with the tooth plate (1703), a rotating plate (1707) is fixed on the flip shaft (1705), and telescopic arms (1708) are movably mounted on both sides of the rotating plate (1707), and the ends of the two telescopic arms (1708) are fixedly connected to both sides of the flip plate (1710), and The two telescopic arms (1708) are fixedly connected via an ear plate (1711), the ear plate (1711) is fixedly connected to the telescopic end of the push-pull electric cylinder (1712), the push-pull electric cylinder (1712) is fixed on the rotating plate (1707), a pneumatic absorber (17133) is fixed on the upper part of the flip plate (1710), and a plurality of suction nozzles (1714) are equipped on the lower part of the flip plate (1710), and the pneumatic absorber (1713) is respectively connected to each suction nozzle (1714).

9. The automatic tracking welding equipment according to claim 1, characterized in that: An alarm (26) is also provided on the upper portion of the controller (18), and an adjustment seat (27) is also provided on the bottom portion of the welding platform (1), and the number of the adjustment seats (27) is not less than six.

10. A welding method using an automatic tracking welding device, characterized in that: The automatic tracking welding equipment according to any one of claims 1 to 9, wherein the method comprises the following steps: S1: Welding preparation, first the controller (18) controls the driving mechanism (8) below the first positioning platform (2) to work, under the action of the driving mechanism (8), the pressing mechanism (12) moves backward as a whole, and during the movement of the pressing mechanism (12), the pressing plate (124) also starts to move upward under the action of the controller (18), so that the first positioning platform (2) is opened to facilitate the placement of the outer plate a; S2: Transfer and compaction, the controller (18) controls the external mechanical arm to transfer the outer plate a to the first positioning platform (2), at which time the outer plate a is opened downward, and the outer inner wall of the outer plate a contacts the anti-deformation top plate (24), and then the controller (18) controls the transfer clamping mechanism (16) to clamp and transfer the connecting plate c on the connecting plate conveyor line (19) to between the limit plate (22) and the anti-deformation top plate (24), and then the controller (18) controls the extrusion cylinder (21) to work and push the outer plate a until the welding end of the outer plate a is in tight contact with the connecting plate c, and then the controller (18) controls the driving mechanism (8) to work in reverse, so that the clamping mechanism (12) moves forward as a whole, and the pressing plate (124) gradually moves downward and compacts to prevent dislocation during the welding process; S3: One-time welding, after compaction is completed, the controller (18) controls the movable lifting mechanism (150) to move to the designated position, and then the tracking mechanism (151) automatically identifies the welding seam, that is, the contact gap between the outer plate a and the upper part of the connecting plate c, and the tracking probe (15190) identifies the welding seam position and distance, and then transmits it to the controller (18). The controller (18) controls the movement and angle adjustment of the laser welding gun (1519) at any time, thereby automatically tracking welding; S4: flipping. After the gap welding of the outer plate a and the connecting plate c is completed, the controller (18) first controls the pressing plate (124) to return to the initial position, and then controls the flipping mechanism (17) to transfer the welded outer plate a to the second positioning table (3). During the flipping process, the welding portion between the outer plate a and the connecting plate c is located at the bottom, which facilitates the welding of the contact gap between the inner plate b and the connecting plate c. S5: Secondary welding. Secondary welding mainly welds the gap between the inner plate b and the connecting plate c. After the welded outer plate a is transferred to the second positioning platform (3), the controller (18) controls the external robotic arm to transfer the inner plate b onto the outer plate a, and then presses the inner plate b onto the outer plate a. Then, the movable lifting mechanism (150) is controlled to move to the specified position. Under the tracking action of the tracking probe (15190), the gap between the connecting plate c and the inner plate b is automatically welded, so that the upper and lower contact gaps of the connecting plate c can be welded.

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