A cap beam frame piece welding positioning system

Abstract

The present invention discloses a cap beam skeleton piece welding positioning system, which relates to the technical field of welding systems, and comprises a displacement system, a multi-angle control system, a positioning data acquisition system, a communication control system and an energy supply system. By setting a primary adjustment structure of a main robotic arm and a secondary adjustment structure of a terminal component, it is easy to adapt to welding gun heads of different specifications. The high-precision adjustment action of the terminal component can also overcome the precision error phenomenon existing in a conventional main robotic arm. By setting a visual component, the influence of ambient light on an industrial camera is reduced, thereby improving the image data acquisition effect of the industrial camera.

Description

Technical Field

[0001] The invention relates to the technical field of welding systems, in particular to a cap beam frame piece welding positioning system. Background Art

[0002] The cap beam frame is the steel structure in the cap beam, which is mainly used to bear and transfer loads. As the main load-bearing structure of the cap beam, the cap beam frame bears the loads transferred from the superstructure, including dead loads and live loads, and transfers these loads to the lower piers or foundations.

[0003] Most of the existing technologies are set up with a relatively simple adjustment structure, or directly use precision equipment such as a robotic arm to adjust and position directly. This method is prone to cause excessive precision errors due to the influence of the precision of the robotic arm itself and the influence of long-term mechanical fatigue factors. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a cap beam frame piece welding positioning system.

[0005] The present invention is implemented by constructing a cap beam frame piece welding positioning system, the device comprising a displacement system, a multi-angle control system, a positioning data acquisition system, a communication control system and an energy supply system;

[0006] The displacement system is used to drive the entire device to perform rapid horizontal displacement; the multi-angle control system is used to perform high-precision adjustment of the spatial position of the welding gun; the positioning data acquisition system is used to collect data on the relative position of the welding gun and the target object; the communication control system is responsible for transmitting the processed data to the control terminal via wireless or wired communication; the energy supply system is used to provide the power and gas source required by the system for the displacement system, multi-angle control system, positioning data acquisition system and communication control system, including a cable line power supply system and a pressure-stabilized gas supply system.

[0007] Preferably, the displacement system includes a CNC slide for adjusting the horizontal position of the welding gun; the multi-angle control system includes a main robotic arm fixedly mounted on the top side of the CNC slide and an end component fixedly arranged at the end of the main robotic arm; the positioning data acquisition system includes a visual component fixedly mounted on the side of the CNC slide by bolts; the communication control system includes a main controller fixedly mounted on the side of the CNC slide by bolts.

[0008] Preferably, the end component includes an end fixing seat fixed on the main robot arm by bolts; two groups of grooves are arranged on the right side of the end fixing seat, and a weld locator is arranged at the groove; a through groove is opened on the right side of the end fixing seat, and a light sensing assembly is fixedly arranged inside the through groove; a linkage body is rotatably arranged in the through groove on the right side of the end fixing seat; a detection aperture is adhesively arranged on the lower side of the outer surface of the linkage body; a first coil ring is adsorbed and fixed on the upper side of the outer surface of the linkage body; the first coil ring is rotatably arranged inside the gear disk; an angle adjustment piece is plugged and fixed on the top of the linkage body; a linkage controller is fixedly installed on the left side of the bottom of the end fixing seat by bolts, and the linkage controller is connected to the first coil ring through a cable.

[0009] Preferably, the weld locator specifically includes a micro motor fixedly mounted on the side of the end mount; a collection camera is fixedly installed on the transmission shaft on the side of the micro motor; and heat dissipation blocks with protective functions are provided on both the upper and lower sides of the collection camera.

[0010] Preferably, the optical sensing assembly is specifically composed of an optical sensor fixedly arranged on the middle side through groove of the end fixing seat and a controller fixedly arranged inside the end fixing seat.

[0011] Preferably, the angle adjustment member includes a screw hole seat which is inserted and fixedly installed in the groove at the top of the linkage body; a screw rod is provided with a threaded transmission on the inner hole of the screw hole seat; a cable tie is fixedly installed on the rear end of the cable tie, and a hole groove for installing an external welding gun head is provided at the rear end of the cable tie.

[0012] Preferably, a limit sleeve is provided on the threaded transmission of the screw rod; the limit sleeve is rotatably arranged inside the second coil ring; the second coil ring is rotatably arranged at the center hole of the upper bevel gear of the bevel gear set; the lower bevel gear of the bevel gear set is plugged and fixed to the rear transmission shaft of the servo motor.

[0013] Preferably, the visual component includes an auxiliary robotic arm fixedly installed on the side of the CNC slide by bolts; an insulating shell is fixedly installed on the end of the auxiliary robotic arm by bolts; a microprocessor is fixedly installed on the top side of the inside of the insulating shell by bolts; an adjusting cylinder with an adjusting function is fixedly installed on the front side of the inside of the insulating shell, and an industrial camera with a data acquisition function is fixedly installed on the front side of the inside of the insulating shell by bolts.

[0014] Preferably, a multi-layer filter is arranged on the rear side of the interior of the heat-insulating shell, and the multi-layer filter is a movable and fixed structure arranged front and back; the end of the regulating cylinder piston rod is fixedly connected to the movable filter of the multi-layer filter.

[0015] The present invention has the following advantages: The present invention provides a cap beam frame piece welding positioning system through improvement, which has the following improvements compared with the same type of equipment:

[0016] The cap beam skeleton welding positioning system described in the present invention can adapt to welding gun heads of different specifications by setting a primary adjustment structure of the main robot arm and a secondary adjustment structure of the terminal component. The high-precision adjustment action of the terminal component can also overcome the accuracy error phenomenon existing in the conventional main robot arm. The influence of ambient light on the industrial camera is reduced by setting a visual component, thereby improving the image data acquisition effect of the industrial camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the numerical control slide and the main mechanical arm of the present invention;

[0018] Figure 2 It is a schematic diagram of the terminal assembly structure of the present invention;

[0019] Figure 3 It is a schematic diagram of the exploded structure of the terminal assembly of the present invention;

[0020] Figure 4 It is a schematic diagram of the exploded structure of the angle adjustment member of the present invention;

[0021] Figure 5 The present invention Figure 3 A schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 6 It is a schematic diagram of the exploded structure of the visual component of the present invention.

[0023] Among them: CNC slide-1, main robot arm-2, end assembly-3, visual assembly-4, main controller-5, end mount-31, weld locator-32, optical sensor assembly-33, linkage body-34, detection aperture-35, first coil ring-36, gear disc-37, angle adjustment part-38, joint controller-39, micro motor-321, acquisition camera-322, heat sink-323, screw seat-381, screw rod-382, cable tie-383, limit sleeve-384, second coil ring-385, bevel gear set-386, servo motor-387, auxiliary robot arm-41, heat insulation shell-42, microprocessor-43, adjustment cylinder-44, industrial camera-45, multi-layer filter-46. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1 to Figure 6 The principles and features of the present invention are described, and the examples given are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention is described in more detail by way of example with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0025] Embodiment 1:

[0026] See also Figure 1 to Figure 6 , a cap beam skeleton piece welding positioning system of the present invention comprises a displacement system, a multi-angle control system, a positioning data acquisition system, a communication control system and an energy supply system;

[0027] The displacement system is used to drive the entire device to perform rapid horizontal displacement; the multi-angle control system is used to perform high-precision adjustment of the spatial position of the welding gun; the positioning data acquisition system is used to collect data on the relative position of the welding gun and the target object; the communication control system is responsible for transmitting the processed data to the control terminal through wireless or wired communication; the energy supply system is used to provide the displacement system, multi-angle control system, positioning data acquisition system and communication control system with the power and gas source required by the system, including a cable line power supply system and a pressure-stabilized gas supply system.

[0028] The displacement system includes a CNC slide 1 for adjusting the horizontal position of the welding gun; the multi-angle control system includes a main robot arm 2 fixedly installed on the top side of the CNC slide 1 and an end component 3 fixedly arranged at the end of the main robot arm 2; the positioning data acquisition system includes a visual component 4 fixedly installed on the side of the CNC slide 1 by bolts; the communication control system includes a main controller 5 fixedly installed on the side of the CNC slide 1 by bolts.

[0029] The end assembly 3 includes an end fixing seat 31 fixedly mounted on the main robotic arm 2 by bolts; two groups of grooves are arranged on the right side of the end fixing seat 31, and a weld locator 32 is arranged at the groove; a through groove is opened on the right side of the end fixing seat 31, and a light sensing assembly 33 is fixedly arranged inside the through groove; a linkage body 34 is rotatably arranged in the through groove on the right side of the end fixing seat 31; a detection aperture 35 is adhesively arranged on the lower side of the outer surface of the linkage body 34; a first coil ring 36 is adsorbed and fixed on the upper side of the outer surface of the linkage body 34; the first coil ring 36 is rotatably arranged inside the gear disc 37; an angle adjustment piece 38 is plugged and fixed on the top of the linkage body 34; a linkage controller 39 is fixedly installed on the left side of the bottom of the end fixing seat 31 by bolts, and the linkage controller 39 is connected to the first coil ring 36 through a cable.

[0030] The weld locator 32 specifically includes a micro motor 321 fixedly mounted on the side of the end mount 31; a collection camera 322 is fixedly mounted on the side drive shaft of the micro motor 321; heat sinks 323 with protective functions are arranged on both the upper and lower sides of the collection camera 322; the optical sensor assembly 33 specifically consists of an optical sensor fixedly mounted on the side through groove of the end mount 31 and a controller fixedly mounted inside the end mount 31.

[0031] The angle adjustment member 38 includes a screw hole seat 381 which is fixedly installed in the groove at the top of the linkage body 34; a screw rod 382 is provided with a threaded transmission on the inner hole of the screw hole seat 381; a cable tie 383 is fixedly installed at the rear end of the cable tie 382, ​​and a hole groove for installing an external welding gun head is provided at the rear end of the cable tie 383; a limit sleeve 384 is provided with a threaded transmission on the screw rod 382; the limit sleeve 384 is an inner and outer sleeve structure, and a screw groove is provided inside the inner sleeve; the limit sleeve 384 is rotatably arranged inside the second coil ring 385; the second coil ring 38 The bevel gear set 386 is rotatably arranged at the center hole of the bevel gear on the upper side of the bevel gear set 386; the bevel gear set 386 specifically comprises two sets of bevel gears meshing with each other and an L-shaped housing; the bevel gear on the lower side of the bevel gear set 386 is plugged and fixed with the transmission shaft on the rear side of the servo motor 387, and the bevel gear on the lower side of the bevel gear set 386 is meshed with the tooth groove on the top side of the gear plate 37; a horizontal plate is arranged on the side of the linkage body 34, and the horizontal plate is slidably connected with the top of the terminal fixing seat 31, and the L-shaped housing of the bevel gear set 386 and the servo motor 387 are both fixed on the horizontal plate on the side of the linkage body 34 by bolts.

[0032] Embodiment 2:

[0033] See also Figure 1 to Figure 6 Compared with the first embodiment, the present invention provides a cap beam skeleton welding positioning system, and the present embodiment further includes: a visual component 4 includes an auxiliary robot arm 41 fixedly installed on the side of the CNC slide 1 by bolts; an insulating shell 42 is fixedly installed on the end of the auxiliary robot arm 41 by bolts; a microprocessor 43 is fixedly installed on the top side of the inner part of the insulating shell 42 by bolts; an adjusting cylinder 44 with an adjusting function is fixedly installed on the front side of the inner part of the insulating shell 42, and an industrial camera 45 with a data acquisition function is fixedly installed on the front side of the inner part of the insulating shell 42 by bolts; a multi-layer filter 46 is arranged on the rear side of the inner part of the insulating shell 42, and the multi-layer filter 46 is a dynamic and fixed structure arranged front and back; the end of the piston rod of the adjusting cylinder 44 is fixedly connected to the movable filter of the multi-layer filter 46.

[0034] The working principle of the above-mentioned cap beam frame welding positioning system is:

[0035] First, when using this device, first place the device in the working area, and then connect the device to an external power source to provide the device with the power required for operation;

[0036] Second, when preparing for positioning, the main controller 5 controls the CNC slide 1 and the main robot 2 to drive the end assembly 3 and the visual assembly 4 to move and approach the welding point. During this process, the heat-insulating shell 42 and the industrial camera 45 are driven by the auxiliary robot 41 and the CNC slide 1 to scan the assembly of the skeleton piece along the way and check whether the wedge block used for positioning is missing;

[0037] Third, the main robot arm 2 then drives the end assembly 3 to adjust its position, and drives the bevel gear set 386 to mesh transmission through the servo motor 387, and supplies energy to the first coil ring 36 and the second coil ring 385 through the joint controller 39, so that the bevel gear set 386 is transmitted, and the lower gear of the bevel gear set 386 is meshed with the toothed disc 37 to rotate accordingly, and under the energized adsorption action of the first coil ring 36, the linkage body 34, the screw hole seat 381 and the screw rod 382 are driven to follow the toothed disc 37 on the end fixed seat 31 for angle adjustment, and the angle adjustment data of the linkage body 34 is detected here by the optical sensor between the optical sensor assembly 33 and the detection aperture 35, and then the main robot arm 2 drives the end assembly 3 to the welding point and the appropriate height, and at this time, the end fixed seat 31 and the angle adjustment member 38 are kept vertical to the assembly platform;

[0038] Fourth, the bevel gear on the top side of the bevel gear set 386 rotates under the transmission action of the servo motor 387 and the bevel gear set 386, and drives the limiting sleeve 384 to rotate accordingly under the adsorption of the second coil ring 385. The inner sleeve screw groove of the limiting sleeve 384 and the screw rod 382 are in a transmission state, so that it is screwed into the screw hole seat 381, so that the screw rod 382 pushes the cable tie 383 out of the side of the end fixing seat 31 in a precise and equal manner, and the combustible gas used for welding is connected to the welding gun head on the side of the cable tie 383 through the pipeline under the connection action of the cable tie 383. When welding, the appropriate height of the main robot arm 2 is set to a fixed value, and the secondary adjustment structure of the screw rod 382 and the servo motor 387 is set to adapt to welding gun heads of different specifications. At the same time, the micro motor 321 is used to adjust the deflection angle of the acquisition camera 322 on the end bracket 31, so that the acquisition camera 322 can be automatically adjusted as the screw rod 382 extends. During the welding process, the spacing between the two layers of the multi-layer filter 46 is adjusted by adjusting the cylinder 44 to reduce the influence of ambient light on the industrial camera 45 and improve the image data acquisition effect of the industrial camera 45.

[0039] The present invention provides an improved cap beam skeleton piece welding positioning system, which can adapt to welding gun heads of different specifications by setting a primary adjustment structure of the main robot arm 2 and a secondary adjustment structure of the terminal component 3. The high-precision adjustment action of the terminal component 3 can also overcome the precision error phenomenon existing in the conventional main robot arm 2. The visual component 4 is set to reduce the influence of ambient light on the industrial camera 45, thereby improving the image data acquisition effect of the industrial camera 45.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0041] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cap beam frame piece welding positioning system, characterized in that: Including displacement system, multi-angle control system, positioning data acquisition system, communication control system and energy supply system; The displacement system is used to drive the whole device to perform rapid displacement in the horizontal position; the multi-angle control system is used to perform high-precision adjustment on the spatial position of the welding gun; the positioning data acquisition system is used to collect data on the relative position of the welding gun and the target object; the communication control system is responsible for transmitting the processed data to the control terminal through wireless or wired communication; the energy supply system is used to provide the power and gas source required by the system for the displacement system, the multi-angle control system, the positioning data acquisition system and the communication control system, including a cable line power supply system and a pressure-stabilized gas supply system; The displacement system comprises a numerical control slide (1) for adjusting the horizontal position of the welding gun; the multi-angle control system comprises a main mechanical arm (2) fixedly mounted on the top side of the numerical control slide (1) and an end assembly (3) fixedly arranged at the end of the main mechanical arm (2); the positioning data acquisition system comprises a visual assembly (4) fixedly mounted on the side of the numerical control slide (1) by bolts; the communication control system comprises a main controller (5) fixedly mounted on the side of the numerical control slide (1) by bolts; The end assembly (3) comprises an end fixing seat (31) fixedly mounted on the main robot arm (2) by means of bolts; two groups of grooves are arranged on the right side of the end fixing seat (31), and a weld locator (32) is arranged at the groove; a through groove is arranged on the right side of the end fixing seat (31), and a light sensing assembly (33) is fixedly arranged inside the through groove; a linkage body (34) is rotatably arranged in the through groove on the right side of the end fixing seat (31); a detection aperture (35) is adhesively arranged on the lower side of the outer surface of the linkage body (34); a first coil ring (36) is adsorbed and fixed on the upper side of the outer surface of the linkage body (34); the first coil ring (36) is rotatably arranged inside the toothed disc (37); an angle adjustment member (38) is plugged and fixed on the top of the linkage body (34); a linkage controller (39) is fixedly mounted on the left side of the bottom of the end fixing seat (31) by means of bolts, and the linkage controller (39) is connected to the first coil ring (36) via a cable; The angle adjustment member (38) comprises a screw hole seat (381) which is plugged and fixedly mounted at the top groove of the linkage body (34); a screw rod (382) is provided on the inner hole of the screw hole seat (381) for threaded transmission; a cable tie (383) is fixedly mounted on the rear end of the cable tie (382), and a hole groove for mounting an external welding gun head is provided at the rear end of the cable tie (383); a limit sleeve (384) is provided on the screw rod (382) for threaded transmission; the limit sleeve (384) is rotatably mounted inside the second coil ring (385); the second coil ring (385) is rotatably mounted at the center hole of the upper bevel gear of the bevel gear set (386); and the lower bevel gear of the bevel gear set (386) is plugged and fixedly mounted on the rear transmission shaft of the servo motor (387).

2. According to claim 1, a cap beam frame piece welding positioning system is characterized in that: The weld locator (32) specifically comprises a micro motor (321) fixedly mounted on the side of the end fixing seat (31); a collection camera (322) is plugged and fixedly mounted on the transmission shaft on the side of the micro motor (321); and heat sinks (323) with protective functions are disposed on both the upper and lower sides of the collection camera (322).

3. According to claim 2, a cap beam frame piece welding positioning system is characterized in that: The optical sensor assembly (33) specifically consists of an optical sensor fixedly arranged on a side through slot in the end fixing seat (31) and a controller fixedly arranged inside the end fixing seat (31).

4. According to claim 3, a cap beam frame piece welding positioning system is characterized in that: The visual component (4) includes an auxiliary robot arm (41) fixedly mounted on the side of the numerical control slide (1) by bolts; a heat-insulating shell (42) is fixedly mounted on the end of the auxiliary robot arm (41) by bolts; a microprocessor (43) is fixedly mounted on the top side of the interior of the heat-insulating shell (42) by bolts; an adjusting cylinder (44) with an adjusting function is fixedly mounted on the front side of the interior of the heat-insulating shell (42), and an industrial camera (45) with a data acquisition function is fixedly mounted on the front side of the interior of the heat-insulating shell (42) by bolts.

5. A cap beam frame piece welding positioning system according to claim 4, characterized in that: A multilayer filter (46) is arranged at the rear side of the interior of the heat-insulating housing (42), and the multilayer filter (46) is in a movable and fixed structure arranged front and back; the end of the piston rod of the regulating cylinder (44) is fixedly connected to the movable filter of the multilayer filter (46).

6. A cap beam frame piece welding positioning method, implemented as a cap beam frame piece welding positioning system according to claim 5, characterized in that: The following steps are involved: Step 1: The main controller (5) controls the CNC slide (1) and the main robot arm (2) to drive the end component (3) and the visual component (4) to move and approach the welding point. During this process, the heat-insulating shell (42) and the industrial camera (45) are driven by the auxiliary robot arm (41) and the CNC slide (1) to scan the assembly status of the skeleton piece along the way and check whether the wedge block used for positioning is missing; Step 2: Then the main robot arm (2) drives the end assembly (3) to adjust its position, and the servo motor (387) drives the bevel gear set (386) to mesh and transmit, and the joint controller (39) supplies energy to the first coil ring (36) and the second coil ring (385), so that the bevel gear set (386) is driven and the linkage body (34) and the angle adjustment member (38) are driven to adjust the angle on the end fixed seat (31) under the energized adsorption action of the first coil ring (36). Here, the angle adjustment data of the linkage body (34) is detected by the optical sensor between the optical sensor assembly (33) and the detection aperture (35), and then the main robot arm (2) drives the end assembly (3) to the welding point and the appropriate height, and at this time, the end fixed seat (31) and the angle adjustment member (38) are kept vertical to the assembly platform; Step 3: Then, through the transmission action of the servo motor (387) and the bevel gear set (386), the limiting sleeve (384) and the screw rod (382) are driven to rotate inwardly inside the screw hole seat (381) under the adsorption of the second coil ring (385), so that the screw rod (382) pushes the cable tie (383) out of the side of the end fixing seat (31) at the same length, and the combustible gas used for welding is connected to the welding gun head on the side thereof through the pipeline under the connection action of the cable tie (383). At this time, the appropriate height of the main robot arm (2) is set to a fixed value, and the secondary adjustment structure of the screw rod (382) and the servo motor (387) is set to adapt to welding gun heads of different specifications; at the same time, the micro motor (321) is used to adjust the deflection angle of the acquisition camera (322) on the end fixing seat (31), so that the acquisition camera (322) can be automatically adjusted as the screw rod (382) is extended.

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