Welding seam tracking system for tailor-welded blank welding

Abstract

The invention belongs to the technical field of welding, and particularly relates to a welding seam tracking system for tailor-welded blank welding, which comprises a welding robot and a plate base, a fixing mechanism is arranged on the plate base, a plurality of plates are fixed through the fixing mechanism, and the welding robot splices the plurality of plates through welding; the fixing mechanism comprises a limiting block, two clamping plates, a hydraulic cavity and a connecting block, the limiting block and the hydraulic cavity are both fixedly installed above the plate base, hydraulic plates are slidably connected to the inner wall of the hydraulic cavity, the space between the hydraulic plates is filled with hydraulic oil, a connecting rod is fixed to one side of each hydraulic plate, and the connecting rod is connected with the limiting block. And the connecting rods are fixedly connected with the clamping plates through the connecting blocks, the two clamping plates are located on the front side and the rear side of the limiting block correspondingly, and the problems that when current tailor-welded blanks are welded, spliced plates cannot be efficiently fixed, so that gaps of the plates are large, or the plates impact each other and tilt, and the welding quality is reduced are solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of welding, and particularly relates to a weld tracking system for tailor-welded blank welding. BACKGROUND

[0002] Laser tailor-welding is to use laser energy to automatically splice and weld a plurality of steel materials, stainless steel materials, aluminum alloy materials and the like of different materials, different thicknesses and different coatings to form a whole plate, profile, sandwich panel and the like to meet different requirements of parts on material performance. The splicing of a plurality of plates is usually completed by a robot instead of manually to improve efficiency. Therefore, the tracking of the weld by the robot is a key technology. At present, when the welds of the spliced plates are welded, the plates need to be fixed, otherwise the welds will be too large and the welding will not be firm. The impact on the plates during the fixing process causes the plates to collide with each other, affects the weld gap, and even causes the plates to be warped, resulting in the bending of the plates after subsequent welding. This phenomenon becomes a problem to be solved by people in the field. SUMMARY

[0003] The present application aims to provide a weld tracking system for tailor-welded blank welding to solve the problems in the background.

[0004] In order to solve the above technical problems, the present application provides the following technical scheme: a weld tracking system for tailor-welded blank welding, comprising a welding robot and a plate base, a fixing mechanism is arranged on the plate base, and a plurality of plates are fixed by the fixing mechanism, the welding robot splices the plurality of plates by welding; the fixing mechanism comprises a limiting block, two clamping plates, a hydraulic cavity and a connecting block, the limiting block and the hydraulic cavity are both fixedly installed above the plate base, a hydraulic plate is slidably connected to the inner wall of the hydraulic cavity, and the hydraulic plates are filled with hydraulic oil, a connecting rod is fixed to one side of the hydraulic plate, the connecting rod is fixedly connected to the clamping plate through the connecting block, the two clamping plates are respectively located on the front and rear sides of the limiting block, a hydraulic valve is fixedly installed above the middle of the hydraulic cavity, a liquid hole is arranged at the connecting position, and one side above the hydraulic valve is connected to an external hydraulic pump pipeline.

[0005] It is further explained that a flow guide block is fixed in the middle of the hydraulic valve, a throttling rod is arranged above the flow guide block, a sliding hole is arranged above the hydraulic valve, the throttling rod is slidably connected in the sliding hole, the lower end of the throttling rod is spherical, and a top plate is fixed to the outer side of the upper end; a spring one is fixed between the lower surface of the top plate and the upper surface of the hydraulic cavity, a motor is fixed to one side of the hydraulic cavity, a cam is fixed to the output end of the motor, and the cam is in contact with the lower surface of the top plate after being rotated.

[0006] The middle of the limiting block is provided with a counterbore, and the inner walls of the through hole are slidably connected with sliding blocks in front and back, and the outer end of the sliding block is limited by the front end of the counterbore; the inner walls of the counterbore are also slidably connected with two sliding plates; the front end of the sliding block is fixed with the connecting block, and the rear end is provided with a buffer spring between the sliding plate; the inner side of the two sliding plates is fixed with a top rod, and the inner ends of the two top rods are in contact with each other.

[0007] The middle of the left side of the limiting block is slidably connected with a sliding rod, the upper end of the throttle rod, the left end of the sliding rod and the inner end of the top rod are all spherical, and the right end of the sliding rod is fixed with a circular arc disc; after the throttle rod moves upward, the spherical part is in contact with the spherical part of the left end of the sliding rod, and the circular arc disc is in contact with the spherical part of the inner end of the top rod.

[0008] The upper side of the sliding rod is fixed with a magnetic rod, and the upper side of the top plate is fixed with a magnetic block; the magnetic rod and the magnetic block are both magnetic and have opposite magnetic poles; after the magnetic block moves upward, it is in contact with the magnetic rod.

[0009] After the magnetic rod is stressed, the sliding rod rotates, and the circular arc disc rotates.

[0010] The inside of the welding robot is provided with a weld tracking system.

[0011] The welding step of the welding robot comprises the following steps: step S1, fixing a plurality of plates by the fixing mechanism; step S2, the welding robot runs, identifies the weld between the plates by the weld tracking system, and tracks the weld; step S3, welding is performed while tracking the weld, the welding work is completed, and after the welding is completed, the fixed plate is released by the fixing mechanism, and the plate is taken down.

[0012] Compared with the prior art, the present application has the following advantages: the fixing mechanism can fix a plurality of plates before welding to reduce the weld and improve the subsequent welding quality; the operation is simple and convenient; during the clamping process of the plate, the flow of the adjusting valve is adjusted to adjust the speed of clamping the plate; for a large number of spliced plates, the flow is reduced, the clamping speed is low, and the plate is clamped slowly to avoid excessive impact force between the plates, so that the plate is lifted through the gap, preventing the quality of the weld from being affected; for a small number of spliced plates, the speed of clamping the plate is increased to speed up the work efficiency.

[0013] In the process of clamping the plate, the buffer spring plays a buffering role, and whether the spliced plate data is more or less, it can be fully buffered, thereby fully avoiding the mutual warping of the plates affecting the quality of the tailor welding, reducing the impact force of the clamping plate on the plate, which can efficiently reinforce the plate to improve the quality of the tailor welding, and can fully reduce the welding gap, greatly improving the quality of the welding, and the extrusion strength of the sliding plate on the buffer spring is strengthened, thereby increasing the buffering strength, at this time the speed of clamping the plate is faster, by further increasing the buffering strength, thereby improving the work efficiency and fully buffering, avoiding the mutual collision between the plates affecting the welding gap, to further guarantee the welding quality. BRIEF DESCRIPTION OF DRAWINGS

[0014] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and are included to provide a further understanding of the application, and do not constitute a limitation of the application. In the drawings:

[0015] Figure 1 is a schematic diagram of the tailor-welded plate welding line of the application;

[0016] Figure 2 is a schematic diagram of the upper arrangement structure of the plate base of the application;

[0017] Figure 3 is a schematic diagram of the internal structure of the hydraulic cavity and the hydraulic valve of the application;

[0018] Figure 4 is a schematic diagram of the internal structure of the limiting block of the application;

[0019] Figure 5 is a sectional view of the hydraulic cavity, the hydraulic valve and the limiting block of the application;

[0020] Figure 6 is a schematic diagram of the state of the hydraulic valve at low flow;

[0021] Figure 7 is a schematic diagram of the positional relationship between the throttle rod, the sliding rod and the top rod of the application;

[0022] Figure 8 is a front view of the hydraulic cavity and the hydraulic valve of the application;

[0023] Figure 9 is a side view of the hydraulic cavity and the hydraulic valve of the application;

[0024] Figure 10 is a plan view of the hydraulic valve of the application;

[0025] Figure 11 is a schematic diagram of the state of the spliced plate of the application;

[0026] In the figure: 1, the base of the plate; 2, the limiting block; 21, the sliding block; 22, the sliding plate; 23, the buffer spring; 24, the top rod; 25, the sliding rod; 251, the circular arc disc; 252, the magnetic rod; 3, the clamping plate; 4, the hydraulic cavity; 41, the hydraulic plate; 42, the connecting rod; 5, the connecting block; 6, the liquid valve; 61, the flow guide block; 62, the throttle rod; 63, the top plate; 631, the magnetic block; 7, the motor; 71, the cam. DETAILED DESCRIPTION

[0027] The technical solutions of the present application will be further described in detail below with reference to the preferred embodiments and the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present application.

[0028] Please refer to Figures 1-11 The present application provides a technical solution: a weld seam tracking system for tailor-welded blank welding, comprising a welding robot and a plate base 1, the plate base 1 is provided with a fixing mechanism, and a plurality of plates are fixed by the fixing mechanism, the welding robot is welded to splice the plates;

[0029] The fixing mechanism comprises a limiting block 2, two clamping plates 3, a hydraulic cavity 4 and a connecting block 5, the limiting block 2 and the hydraulic cavity 4 are both fixedly installed above the plate base 1, the inner wall of the hydraulic cavity 4 is slidably connected with a hydraulic plate 41, and the hydraulic plate 41 is filled with hydraulic oil, one side of the hydraulic plate 41 is fixed with a connecting rod 42, the connecting rod 42 is fixedly connected with the clamping plate 3 through the connecting block 5, the two clamping plates 3 are respectively located on the front and rear sides of the limiting block 2, a liquid valve 6 is fixedly installed above the middle of the hydraulic cavity 4, and a liquid hole is arranged at the connection, and one side above the liquid valve 6 is connected with an external hydraulic pump pipeline;

[0030] The first plate and the second plate are adhered to each other and to the left side of the limiting block 2, and the remaining plates are adhered to each other and to the first plate and the second plate, so as to form a rectangular plate, then the external hydraulic pump operates to generate negative pressure, the negative pressure passes through the pipeline, the liquid valve 6 and the liquid hole to extract the hydraulic oil in the hydraulic cavity 4, the negative pressure drives the hydraulic plate 41 to slide along the inner wall of the hydraulic cavity 4, the hydraulic plate 41 drives the connecting block 5 to move through the connecting rod 42, the connecting block 5 drives the clamping plate 3 to move, so that the two clamping plates 3 are close to each other, and the inner sides thereof are adhered to the front and rear sides of the rectangular plate and clamp the plate, thereby fixing the plate, then the welding robot is welded by weld seam tracking, after welding is completed, the external hydraulic pump re-injects the hydraulic oil into the hydraulic cavity 4, so that the clamping plate 3 resets to release the welded plate, and the fixing mechanism can fix the adhered plates before welding to reduce the weld seam and improve the subsequent welding quality, and the operation is fully automatic, simple and convenient.

[0031] The middle of the liquid valve 6 is fixed with a flow guide block 61, the upper part of the flow guide block 61 is provided with a throttling rod 62, the upper part of the liquid valve 6 is provided with a sliding hole, and the throttling rod 62 is slidingly connected in the sliding hole, the lower end of the throttling rod 62 is spherical, and the upper end of the outer side is fixed with a top plate 63;

[0032] The lower surface of the top plate 63 and the upper surface of the hydraulic cavity 4 are fixed with a spring one, one side of the hydraulic cavity 4 is fixed with a motor 7, the output end of the motor 7 is fixed with a cam 71, the cam 71 is in contact with the lower surface of the top plate 63 after rotation;

[0033] Embodiment one:

[0034] In the process of clamping the preliminarily fitted several plates, the cam 71 is rotated by driving the motor 7, the outer end of the cam 71 is in contact with the lower surface of the top plate 63, and the top plate 63 is pushed to move upward, the top plate 63 drives the throttling rod 62 to move upward, and the spring one is deformed under stress, the spherical part at the bottom end of the throttling rod 62 moves upward to increase the distance between the upper end of the flow guide block 61, the flow is increased, so as to increase the moving speed of the clamping plate 3 when clamping the plate, so as to improve the clamping strength, and vice versa, the motor 7 is reversely rotated, the position height of the outer end of the cam 71 is lowered, the throttling rod 62 moves downward under the reaction force generated by the spring one, the distance between the spherical part at the bottom end of the throttling rod 62 and the upper end of the flow guide block 61 is reduced, the flow is reduced, so as to reduce the moving speed of the clamping plate 3 when clamping the plate, and the plate is slowly clamped;

[0035] For a large number of spliced plates, the flow is reduced, the moving speed of the clamping plate 3 is low, the plate is slowly clamped, the impact force between the plates is avoided to be too large, so as to be raised through the gap, the quality of the welding seam welding is prevented from being affected, and for a small number of spliced plates, the speed of clamping the plate is accelerated, so as to accelerate the working efficiency.

[0036] The middle of the limiting block 2 is provided with a counterbore, and the inner wall of the through hole is slidingly connected with a sliding block 21 in front and back, and the outer end of the sliding block 21 is limited by the front end of the counterbore, the inner wall of the counterbore is also slidingly connected with two sliding plates 22, the front end of the sliding block 21 is fixed with the connecting block 5, and the rear end is provided with a buffer spring 23 between the sliding plate 22, the inner side of the two sliding plates 22 is fixed with a top rod 24, and the inner ends of the two top rods 24 are in contact with each other;

[0037] Embodiment two:

[0038] In the process of clamping the plate, the two connecting blocks 5 are close to each other, the connecting block 5 drives the sliding block 21 to slide in the counterbore, and the buffer spring 23 is extruded to deform, thereby generating a reaction force, which plays a buffering role. Whether the number of spliced plates is large or small, it can be fully buffered, thereby fully avoiding the mutual lifting of the plates to affect the quality of the tailor welding, reducing the impact force of the clamp 3 on the plate, which can efficiently reinforce the plate to improve the quality of the tailor welding, and can fully reduce the gap between the welds, greatly improving the quality of the welding.

[0039] The left side of the limiting block 2 is slidably connected with a sliding rod 25, the upper end of the throttle rod 62, the left end of the sliding rod 25 and the inner end of the top rod 24 are spherical, and the right end of the sliding rod 25 is fixed with a circular arc disc 251;

[0040] After the throttle rod 62 moves upward, the spherical part of the throttle rod 62 and the spherical part of the left end of the sliding rod 25 are in contact with each other, and the circular arc disc 251 and the spherical part of the inner end of the top rod 24 are in contact with each other;

[0041] Embodiment three:

[0042] In embodiment one, for a small number of spliced plates, the throttle rod 62 moves upward, the spherical part of the upper end of the throttle rod 62 contacts and extrudes the spherical part of the left end of the sliding rod 25, the sliding rod 25 moves to the right, the spherical part of the right end of the sliding rod 25 contacts and extrudes the spherical part of the inner end of the top rod 24, the top rod 24 is forced to move outward, thereby pushing the sliding plate 22 to move outward, and the extrusion degree of the buffer spring 23 is strengthened, thereby increasing the buffering strength in embodiment two. At this time, the clamping speed of the plate is relatively fast, and by further increasing the buffering strength, the working efficiency can be improved and sufficient buffering can be achieved to avoid the mutual collision of the plates to affect the weld gap, thereby further ensuring the welding quality.

[0043] The upper side of the sliding rod 25 is fixed with a magnetic rod 252, and the upper side of the top plate 63 is fixed with a magnetic block 631;

[0044] The magnetic rod 252 and the magnetic block 631 both have magnetism, and the magnetic poles are opposite. After the magnetic block 631 moves upward, it is in contact with the magnetic rod 252.

[0045] After the magnetic rod 252 is forced, the sliding rod 25 rotates, and the circular arc disc 251 rotates;

[0046] Embodiment four:

[0047] With the throttle lever 62 moving upwards, the top plate 63 moves upwards, the top plate 63 drives the magnetic block 631 to move upwards until the upper end of the magnetic rod 252 is attached, then the throttle lever 62 continues to move upwards, the magnetic block 631 pushes the magnetic rod 252, the slide rod 25 is slightly rotated by the magnetic rod 252, the circular arc disc 251 is slightly rotated, because the speed of the clamping plate at this time is very fast and the strength is very high, through the slight rotation of the circular arc disc 251, when the circular arc disc 251 extrudes the top rod 24, the moving distance of the top rod 24 is reduced, the extrusion strength of the buffer spring 23 is relatively reduced, and the buffer strength is relatively reduced, which can guarantee the buffer strength, avoid the impact of the clamping plate on the plate, and also can not excessively reduce the fatigue degree of the buffer spring 23, so that the service life of the structure is improved, and after the buffer strength is reduced, the clamping speed can be relatively increased, and the subsequent welding efficiency is effectively improved.

[0048] The welding robot is internally provided with a weld tracking system.

[0049] The welding step of the welding robot comprises:

[0050] Step S1, fixing a plurality of plates by a fixing mechanism;

[0051] Step S2, the welding robot runs, identifies the weld between the plates by the weld tracking system, and tracks the weld;

[0052] Step S3, welding while tracking the weld, completing the welding work, and releasing the welded plates by the fixing mechanism after the welding is completed, and taking down the plates;

[0053] The weld tracking process adopts a triangulation formula and a deviation calculation formula, which are specifically:

[0054] When the laser projection and imaging technology is adopted, the three-dimensional coordinates of the weld surface are calculated by the following formula: Wherein, B is the baseline distance of the laser and the camera (mm / millimeter, f is the focal length of the lens (mm / millimeter, d is the pixel displacement of the laser point in the image (PX / pixel, by comparing the real-time detection with the preset path, the position deviation is obtained: ΔX=X 实际 ―X 预设 , ΔZ=Z 实际 ―Z 预设 , Δθ=θ 实际 ―θ 预设 , the system adjusts the position and posture of the welding gun in real time according to these deviation data;

[0055] In addition, different weld types need to adjust the calculation formula parameters, for example, the butt joint weld width calculation formula is: C=δ+2+gap compensation, which is suitable for I-type weld, and δ is the thickness of the plate.

[0056] In the description of the present application, it needs to be understood that the terms "upper", "lower", "front", "back", "left", "right", etc. indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0057] Finally, it should be pointed out that: the above examples are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A weld tracking system for tailor-welded blanks, comprising a welding robot and a plate base (1), characterized in that: The plate base (1) is provided with a fixing mechanism, and a plurality of plates are fixed by the fixing mechanism, and the welding robot splices the plurality of plates by welding; The fixing mechanism comprises a limit block (2), two clamping plates (3), a hydraulic cavity (4) and a connecting block (5); the limit block (2) and the hydraulic cavity (4) are both fixedly mounted above the plate base (1); the inner wall of the hydraulic cavity (4) is slidably connected to a hydraulic plate (41), and hydraulic oil is filled between the hydraulic plates (41); a connecting rod (42) is fixed to one side of the hydraulic plate (41); the connecting rod (42) is fixedly connected to the clamping plate (3) through the connecting block (5); the two clamping plates (3) are respectively located at the front and rear sides of the limit block (2); a liquid valve (6) is fixedly mounted in the middle above the hydraulic cavity (4), and a liquid hole is provided at the connection; the upper side of the liquid valve (6) is connected to an external hydraulic pump pipeline.

2. The weld seam tracking system for tailor-welded blanks according to claim 1, characterized in that: A guide block (61) is fixed in the middle of the liquid valve (6), a throttle rod (62) is provided above the guide block (61), a sliding hole is provided above the liquid valve (6), and the throttle rod (62) is slidably connected in the sliding hole, the lower end of the throttle rod (62) is spherical, and a top plate (63) is fixed to the outer side of the upper end; A spring is fixed between the lower surface of the top plate (63) and the upper surface of the hydraulic chamber (4), a motor (7) is fixed on one side of the hydraulic chamber (4), a cam (71) is fixed on the output end of the motor (7), and the cam (71) contacts the lower surface of the top plate (63) after rotating.

3. The weld seam tracking system for tailor-welded blanks according to claim 2, characterized in that: A countersunk hole is provided in the middle of the limit block (2), and a slider (21) is slidably connected to the front and rear inner walls of the through hole, and the outer end of the slider (21) is limited by the front end of the countersunk hole. Two sliding plates (22) are also slidably connected to the inner wall of the countersunk hole. The front end of the slider (21) is fixed to the connecting block (5), and a buffer spring (23) is provided between the rear end and the sliding plate (22). A push rod (24) is fixed to the inner side of the two sliding plates (22), and the inner ends of the two push rods (24) are in contact with each other.

4. The weld seam tracking system for tailor-welded blank welding according to claim 3, characterized in that: A slide rod (25) is slidably connected to the middle of the left side of the limit block (2); the upper end of the throttle rod (62), the left end of the slide rod (25) and the inner end of the push rod (24) are all spherical, and a circular arc disk (251) is fixed to the right end of the slide rod (25); After the throttle rod (62) moves upward, its spherical portion contacts the spherical portion at the left end of the slide rod (25), and the arc disk (251) contacts the spherical portion at the inner end of the push rod (24).

5. The weld seam tracking system for tailor-welded blanks according to claim 4, characterized in that: A magnetic rod (252) is fixed above the sliding rod (25), and a magnetic block (631) is fixed above the top plate (63); The magnetic rod (252) and the magnetic block (631) are both magnetic and have opposite magnetic poles. After the magnetic block (631) moves upward, it contacts the magnetic rod (252).

6. The weld seam tracking system for tailor-welded blanks according to claim 5, characterized in that: After the magnetic rod (252) is subjected to force, the slide bar (25) rotates, and the arc disk (251) rotates.

7. The weld seam tracking system for tailor-welded blank welding according to claim 6, characterized in that: A weld tracking system is provided inside the welding robot.

8. The weld seam tracking system for tailor-welded blanks according to claim 7, characterized in that: The welding steps of the welding robot include: Step S1, fixing a plurality of plates by a fixing mechanism; Step S2: The welding robot runs, identifies the welds between the plates through the weld tracking system, and tracks the welds; Step S3: welding is performed while tracking the weld seam to complete the welding work. After welding is completed, the welded plates are released by the fixing mechanism and the plates are removed.

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