Multi-specification aluminum profile synchronous positioning and welding device and welding slag self-stripping mechanism

Abstract

The invention belongs to the technical field of aluminum profile welding processing, and particularly relates to a multi-specification aluminum profile synchronous positioning welding device and a welding slag self-stripping mechanism. The multi-specification aluminum profile synchronous positioning welding device comprises a jacking air cylinder, and the jacking air cylinder pushes a second clamping air cylinder to drive a first procedure aluminum profile on the top of a conveying frame to vertically move; the push-pull air cylinder drives the second clamping air cylinder and the aluminum profile of the first process to move into the slag removal station, and the aluminum profile of the first process is positioned through a positioning clamping assembly in the slag removal station; the positioning clamping assembly is in transmission connection with the driving mechanism through the frame, and the driving mechanism drives the frame and drives the positioning clamping assembly in the slag removal station to rotate circumferentially, so that the first-procedure aluminum profile in the slag removal station moves into the welding station. By means of the positioning mechanism and the feeding and discharging mechanism, the problems that according to a traditional welding device, aluminum profiles of different specifications cannot be rapidly and accurately positioned, welding parameters cannot be adjusted in real time according to the specifications of the aluminum profiles, and welding slag stripping depends on manual work or follow-up complex procedures are solved.

Description

Technical Field

[0001] This invention belongs to the field of aluminum profile welding technology, specifically involving a synchronous positioning welding device for multi-specification aluminum profiles and a slag self-removal mechanism. Background Technology

[0002] Aluminum profiles are widely used in construction, transportation, machinery and other fields due to their advantages such as light weight, high strength and corrosion resistance. Welding is a crucial part of aluminum profile processing. During the welding process, the position, shape and size of the weld seam vary greatly among aluminum profiles of different specifications. Therefore, the positioning accuracy of aluminum profiles is extremely important. At the same time, the treatment of weld slag generated during the welding process is also very important.

[0003] To address the aforementioned issues, this invention proposes a multi-specification aluminum profile synchronous positioning welding device and a slag self-removal mechanism, which employs a unique positioning mechanism and loading / unloading mechanism design.

[0004] Problems with existing technology: 1. Traditional welding equipment often struggles to achieve rapid and precise positioning of aluminum profiles of different specifications, leading to displacement of the aluminum profiles during the welding process, which in turn affects welding quality and efficiency.

[0005] 2. Existing aluminum profiles cannot adjust welding parameters in real time according to different specifications of aluminum profiles during welding, resulting in inconsistent welding effects and making it difficult to meet the requirements of high-quality welding.

[0006] 3. The existing methods for removing welding slag from aluminum profiles mainly rely on manual hammering, wire brush grinding, or subsequent sandblasting, pickling, and other processes. Manual cleaning is inefficient, labor-intensive, and inconsistent, while subsequent chemical or mechanical cleaning increases production processes, costs, and environmental pollution. Summary of the Invention

[0007] The purpose of this invention is to provide a synchronous positioning welding device for aluminum profiles of different specifications and a slag self-removal mechanism to solve the problems of traditional welding devices, such as difficulty in achieving rapid and accurate positioning of aluminum profiles of different specifications, inability to adjust welding parameters in real time according to the specifications of aluminum profiles, and reliance on manual labor or subsequent complex processes for slag removal.

[0008] The specific technical solution adopted by this invention is as follows: A multi-specification aluminum profile synchronous positioning welding device and a slag self-removal mechanism include a lifting cylinder, which pushes a second clamping cylinder to drive the first process aluminum profile at the top of the conveyor frame to move vertically, and a push-pull cylinder drives the second clamping cylinder and the first process aluminum profile to move to the interior of the slag removal station, and positions the first process aluminum profile through the positioning clamping assembly inside the slag removal station. The positioning and clamping assembly is connected to the drive mechanism via the frame. The drive mechanism drives the frame and causes the positioning and clamping assembly inside the slag removal station to rotate circumferentially, so that the first process aluminum profile inside the slag removal station moves to the inside of the welding station. The first process aluminum profile set in the welding station is welded by the welding robot and then moved to the inside of the slag removal station via the drive mechanism and the frame. The lifting cylinder drives the second-process aluminum profile to move to one side of the peeling component via the second clamping cylinder. The peeling component moves linearly along the X-axis via the second linear module, and the second linear module moves linearly along the Y-axis via the third linear module. It is used to peel off the weld slag from the single-sided weld of the second-process aluminum profile. The flipping motor and the first clamping cylinder of the positioning clamping component are used to drive the second-process aluminum profile to flip, and the second clamping cylinder and the peeling component peel off the weld slag from multiple sides of the second-process aluminum profile.

[0009] A conveyor frame is also provided on one side of the positioning mechanism. The conveyor frame drives the aluminum profile of the first process to move to the top of the loading and unloading mechanism, and moves it to the inside of the slag removal station through the loading and unloading mechanism. The positioning mechanism then transports the aluminum profile of the first process to the inside of the welding station. The loading and unloading mechanism drives the aluminum profile of the third process inside the slag removal station to the top of the conveyor frame.

[0010] The top and bottom of the frame are fixedly equipped with baffles, which are used to separate the welding station and the slag removal station, so that the baffles can prevent the welding slag inside the slag removal station from splashing into the welding station. The frame is equipped with two sets of independently controlled positioning and clamping components.

[0011] The positioning and clamping assembly includes a first motor fixedly installed on the outside of the frame. The first motor is used to drive the mounting plate to rotate the first linear module in a circular motion, so that the first linear module drives the first clamping cylinder to move synchronously through the first slide block. The first linear module drives its first slide to move synchronously in opposite directions, and the two sets of first slides are arranged in a mirror image, so that the two sets of first slides drive the two sets of first clamping cylinders to move synchronously to both ends of the aluminum profile and abut against it.

[0012] The first motor and the first clamping cylinder are used to drive the aluminum profile of the first process inside the welding station to rotate eccentrically, and the flipping motor fixedly installed on one side of the first slide is used to drive the aluminum profile inside the welding station to flip.

[0013] The welding robot is set up in two groups and controlled independently. The two groups of welding robots are mirrored and slidably installed on the top of the ground rail. The welding robot includes a robotic arm fixedly mounted on the top of the mounting base, and an industrial camera and a drive unit fixedly mounted on the surface of the mounting base. The industrial camera drives the mounting base to move linearly on the top of the ground rail, so that the welding part of the robotic arm moves to the weld seam side of the aluminum profile in the first process inside the welding station.

[0014] The lifting cylinder pushes the second clamping cylinder to position the aluminum profile of the second process, and the push-pull cylinder drives the aluminum profile of the second process to move to one side of the peeling component; The peeling component is slidably installed with the second linear module, and the second linear module is slidably installed with the third linear module. The second linear module drives the peeling component to move to the side of the aluminum profile weld in the second process, and the third linear module drives one end of the peeling component to abut against the aluminum profile.

[0015] The stripping assembly includes a second slide block that is slidably mounted on the surface of the second linear module, and a weld slag stripper is fixedly mounted on one side of the second slide block by a vibration damping seat; The slag stripper includes a high-frequency vibrator fixedly installed on the surface of the vibration damping seat. The high-frequency vibrator is fixedly installed with a guide sleeve through a connecting flange. A connecting rod is provided inside the guide sleeve through a limiting plate. The connecting rod is located between the universal joint and the cutter head.

[0016] A spring abuts against the bottom of the universal joint and the guide sleeve. The limiting plate is provided with a limiting groove inside, and the cutting head swings inside the guide sleeve through the limiting groove and the universal joint.

[0017] A machine vision-based weld seam recognition and automatic welding method includes the following steps: The industrial camera in the perception layer acquires images of the weld seam area of ​​the aluminum profile in the first process inside the welding station, and transmits the acquired image information to the decision layer; The weld location and type are obtained by the weld identification and feature extraction module of the decision layer. The weld identification and feature extraction module calls the weld feature database to match the obtained weld location and type to determine whether the weld feature of the aluminum profile in the first process is a known predetermined specification. If the weld features of the aluminum profile in the first process are known predetermined specifications, then the weld feature data is used as a key input to the process parameter matching module, and the process parameter matching module calls the welding process parameter database for matching based on the weld feature data; The welding process parameters that match the seam feature data are output from the welding process parameter database. The welding process parameters include welding path, welding current, welding voltage, welding speed and welding gas flow rate, and the welding process parameters are transmitted to the execution layer. After receiving the process parameters, the execution layer controls the robotic arm of the welding robot to perform welding operations according to the planned welding path, welding current, welding voltage, welding speed, and welding gas flow rate.

[0018] The technical effects achieved by this invention are as follows: The technical effects achieved by this invention are as follows: 1. This invention, through a multi-specification aluminum profile synchronous positioning and welding device, enables rapid and precise positioning of aluminum profiles of different specifications, effectively avoiding the problem of aluminum profile position deviation during welding, thereby significantly improving welding quality and efficiency. It can also realize automatic loading and unloading of aluminum profiles for welding, and improve the welding efficiency and slag removal efficiency of aluminum profiles. In addition, the positioning mechanism in this device, through the coordinated action of a series of transmission components, can accurately transport the first-process aluminum profile to the designated position and perform stable positioning, providing a reliable guarantee for subsequent welding operations.

[0019] 2. The present invention also has the function of adjusting welding parameters in real time according to the specifications of aluminum profiles. By introducing machine vision technology, the device can automatically identify the weld characteristics of the aluminum profiles in the first process, including weld position and type, and match the most suitable welding parameters from the preset welding process parameter database based on these characteristics, such as welding path, welding current, welding voltage, welding speed and welding gas flow rate, so that the device can adapt to the welding requirements of aluminum profiles of different specifications, ensuring the stability and consistency of welding effect and meeting the requirements of high-quality welding.

[0020] 3. This invention also integrates a slag self-removal mechanism to achieve automatic slag removal. Through a specific mechanical structure and motion mode, this mechanism can automatically remove the slag from the surface of the aluminum profile after welding, eliminating the need for manual hammering, wire brush grinding, or subsequent sandblasting, pickling, and other processes. This not only greatly improves production efficiency and reduces labor intensity, but also avoids the increased costs and environmental pollution caused by manual cleaning or chemical / mechanical cleaning. At the same time, the slag self-removal mechanism of this invention is reasonably designed, easy to operate, and has high practicality and promotional value. Attached Figure Description

[0021] Figure 1 This is a perspective view of the overall installation structure of the present invention; Figure 2 This is a schematic diagram of the aluminum profile positioning and weld slag removal structure in this invention; Figure 3 This is a schematic diagram of the installation structure of the positioning mechanism in this invention; Figure 4 This is a schematic diagram of the specific structure of the loading and unloading mechanism in this invention; Figure 5This is a schematic diagram of the positioning and clamping component structure in this invention; Figure 6 This is a schematic diagram of the peeling component structure in this invention; Figure 7 This is a schematic diagram of the slag stripper structure in this invention; Figure 8 This is a schematic diagram of the welding robot installation structure in this invention; Figure 9 This is a schematic diagram of the specific structure of the welding robot in this invention; Figure 10 This is a flowchart of the machine vision-based weld seam recognition and automatic welding process in this invention; Figure 11 This is a flowchart of the weld seam identification and feature extraction module in this invention; Figure 12 This is a flowchart of the process parameter matching module in this invention.

[0022] The attached diagram lists the components represented by each number as follows: 1. Ground rail; 2. Welding robot; 21. Robotic arm; 22. Mounting base; 23. Industrial camera; 24. Drive unit; 3. Frame; 4. Positioning mechanism; 41. Drive mechanism; 42. Frame; 43. Baffle; 44. Positioning and clamping assembly; 441. First motor; 442. Mounting plate; 443. First linear module; 444. First slide; 445. Tilting motor; 446. First clamping cylinder; 5. Conveyor frame; 6. Loading / unloading mechanism; 61. Fixed frame; 62. Push-pull cylinder; 63. Connecting frame; 64. Lifting cylinder; 65. Moving frame; 66. Second clamping cylinder; 67. Second linear module; 68. Peeling assembly; 681. Second slide; 682. Vibration damping seat; 683. Weld slag peeler; 6831. High-frequency vibrator; 6832. Connecting flange; 6833. Guide sleeve; 6834. Connecting rod; 6835. Universal joint; 6836. Cutter head; 7. Limiting plate; 8. Spring; 9. Welding station; 10. Slag removal station; 11. Upright pole; 12. Third linear module. Detailed Implementation

[0023] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0024] like Figure 1-12As shown, the multi-specification aluminum profile synchronous positioning welding device and slag self-removal mechanism use a lifting cylinder 64 to push the second clamping cylinder 66 to drive the first process aluminum profile at the top of the conveyor frame 5 to move vertically. The second clamping cylinder 66 and the first process aluminum profile are moved to the inside of the slag removal station 10 by the push-pull cylinder 62. The first process aluminum profile is positioned by the positioning clamping component 44 inside the slag removal station 10. The first process aluminum profile refers to the aluminum profile to be welded. All first process aluminum profiles in the following text refer to the same content.

[0025] According to the above structure, the first linear module 443 of the positioning and clamping assembly 44 is provided with two sets of first slide blocks 444 on its surface. The first linear module 443 can drive the two sets of first slide blocks 444 to move synchronously and in opposite directions in a linear motion. Specifically, a stepper motor and a bidirectional lead screw are installed in the first linear module 443, and the first slide blocks 444 are threadedly installed with the bidirectional lead screw. Therefore, the two sets of first slide blocks 444 can drive the first clamping cylinder 446 to move to both ends of the first process aluminum profile and abut against both ends of the first process aluminum profile to achieve the positioning of the first process aluminum profile.

[0026] Of course, since the spacing between the two sets of first slide blocks 444 can be flexibly adjusted, and the clamping distance of the first clamping cylinder 446 can also be flexibly adjusted, it can be applied to the positioning needs of aluminum profiles of different specifications, greatly improving the versatility and flexibility of the device.

[0027] Furthermore, the positioning mechanism 4 has two sets of the first clamping cylinders 446, which are arranged in a mirror image. Therefore, the activation of the first clamping cylinders 446 can clamp and fix both ends of the aluminum profile in the first process.

[0028] It should be noted that a force feedback sensor is installed inside the clamping plate of the first clamping cylinder 446. This force feedback sensor can sense the magnitude of the clamping force in real time and transmit the signal to the control system. When the clamping force reaches the preset value, the control system will issue a command to stop the first clamping cylinder 446 from continuing to clamp, thereby avoiding damage to the aluminum profile due to excessive clamping force and ensuring the stability and safety of the positioning process.

[0029] See attached document Figure 1 , Figure 3 and Figure 5 A first motor 441 is fixedly installed on the outside of the frame 42, and the output shaft of the first motor 441 is fixedly installed on the mounting plate 442. Therefore, the first motor 441 can drive the mounting plate 442 to drive the first linear module 443, the first clamping cylinder 446, and the first process aluminum profile to rotate eccentrically, thereby adjusting the angle of the aluminum profile. This is suitable for the welding needs of irregular aluminum profiles and further improves the applicability of the device.

[0030] Furthermore, the frame 42 is I-shaped, and two sets of positioning and clamping components 44 are installed inside the frame 42. The two sets of positioning and clamping components 44 work independently and do not interfere with each other. They are located inside the welding station 9 and the slag removal station 10, respectively. This design enables the device to perform positioning and welding operations on two different specifications or different welding positions of aluminum profiles at the same time, which greatly improves the welding efficiency.

[0031] Furthermore, the baffles 43 fixedly installed at the top and bottom of the frame 42 serve to separate the welding station 9 and the slag removal station 10, effectively preventing welding slag inside the slag removal station 10 from splashing into the welding station 9, thus ensuring a clean welding environment.

[0032] See attached document Figure 1 , Figure 3 and Figures 8 to 12 It is worth noting that the frame 42 is connected to the drive mechanism 41, and the drive mechanism 41 can drive the frame 42 to rotate, thereby causing the positioning and clamping component 44 inside the slag removal station 10 to rotate circumferentially, so that the aluminum profile of the first process inside the slag removal station 10 moves to the internal light strip welding of the welding station 9.

[0033] Inside the welding station 9, the first process aluminum profile located on one side will be welded by the welding robot 2. Specifically, the welding robot 2 acquires the image of the weld seam area of ​​the first process aluminum profile through the industrial camera 23 and transmits the acquired image information to the weld seam recognition and feature extraction module of the decision layer.

[0034] The weld identification and feature extraction module matches the weld location and type obtained from the weld feature database to determine whether the weld features of the aluminum profile in the first process are of known predetermined specifications.

[0035] Specifically, the weld feature database is constructed from a large amount of experimental data, which includes weld feature information of various specifications of aluminum profiles, including weld shape, size and location data. The weld recognition and feature extraction module can then match the obtained weld location and type with the data in the database to obtain the matching results.

[0036] More specifically, if the predetermined specifications are known, the weld feature data is used as the key input to the welding process parameter matching module, which calls the welding process parameter database for matching based on the weld feature data.

[0037] Based on the above, the welding process parameter database stores welding process parameters corresponding to various weld characteristics. These parameters include key information such as welding path, welding current, welding voltage, welding speed, and welding gas flow rate.

[0038] The data in the welding process parameter database is derived from a large number of experiments and practical application experiences. It can ensure that the most suitable welding parameters are provided when welding aluminum profiles of different specifications, thereby guaranteeing welding quality and efficiency.

[0039] Specifically, welding process parameters that match the weld feature data are input into the execution layer. These parameters include welding path, welding current, welding voltage, welding speed, and welding gas flow rate. After receiving the parameters, the execution layer controls the welding robot 2 to adjust the linear position of the robotic arm 21 through the drive unit 24 and the ground rail 1, and performs precise welding operations through the robotic arm 21 according to the planned welding path, welding current, welding voltage, welding speed, and welding gas flow rate.

[0040] Additionally, if the weld location and type do not match the data in the database to a known predetermined specification, exception handling is triggered, which includes the following steps: First, there are steps such as manual inspection and correction, and re-acquiring images for matching. In the manual inspection stage, the operator will conduct a detailed inspection of the welds of the aluminum profiles in the first process to confirm whether they are indeed not of the known predetermined specifications, or whether there are errors in the image acquisition and recognition process.

[0041] Secondly, if it is confirmed to be a new weld specification, the operator will manually input the relevant weld feature information and welding process parameter information, and update them simultaneously to the weld feature database and welding process parameter database, so that subsequent welding operations of aluminum profiles of the same specification can be carried out smoothly. At the same time, the system will record this anomaly to provide data support for subsequent process improvement and database optimization.

[0042] Finally, if the error is confirmed to be in the image acquisition or recognition process, the system will restart the image acquisition process, re-acquire the image of the aluminum profile weld area in the first process, and re-transmit it to the weld recognition and feature extraction module of the decision layer for matching. During this matching process, the system will optimize the matching algorithm or adjust the matching parameters to improve the accuracy and stability of the matching.

[0043] See attached document Figure 1 , Figure 3 and Figure 4 The data identified and matched by machine vision can be synchronously updated to welding robots 2, and welding robots 2 can weld aluminum profiles. During the welding of aluminum profiles inside welding station 9, another aluminum profile can be sent to the positioning and clamping component 44 of slag removal station 10 by loading and unloading mechanism 6 to wait. After the welding of aluminum profiles inside welding station 9 outside welding robot 2 is completed, the automatic switching of aluminum profiles inside welding station 9 and slag removal station 10 can be realized by the cooperation of drive mechanism 41 and frame 42.

[0044] Furthermore, the new aluminum profile enters the welding station 9 from the inside of the slag removal station 10, while the welded aluminum profile is sent to the inside of the slag removal station 10 through the drive mechanism 41 and the frame 42.

[0045] See attached document Figures 1 to 5 By starting the first motor 441, the mounting plate 442 and the first linear module 443 are rotated, causing the first clamping cylinder 446 to rotate the second process aluminum profile ninety degrees to the side facing the loading and unloading mechanism 6. Here, the second process aluminum profile refers to the aluminum profile that has been welded. All references to the second process aluminum profile in the following text refer to the same content.

[0046] According to the above structure, the push-pull cylinder 62 installed inside the fixed frame 61 of the loading and unloading mechanism 6 can push the connecting frame 63 to move the moving frame 65, the lifting cylinder 64 and the second clamping cylinder 66 to directly below the aluminum profile of the second process. By activating the lifting cylinder 64, the second clamping cylinder 66 can be pushed upward and made to abut against the aluminum profile of the second process.

[0047] Specifically, the second clamping cylinder 66 can be activated to clamp and fix the aluminum profile of the second process. At this time, the positioning and clamping assembly 44 releases the positioning and clamping of the aluminum profile of the second process, and the peeling assembly 68 can be driven to move to the position of the weld by the third linear module 12 installed on one side of the upright 11 and the second linear module 67 installed on one side of the third linear module 12.

[0048] Of course, the adjustment of the stripping component 68 can be achieved through a manual operation control system, or a vision recognition system can be integrated on the stripping component 68 to automatically recognize the operation. In this embodiment, the manual operation control system is preferred. This design can be flexibly adjusted according to actual production needs and operating habits, reducing equipment costs while facilitating precise control by operators, and avoiding the complexity of multiple systems.

[0049] It should be noted that when the aluminum profile of the second process is fixed by the loading and unloading mechanism 6 and the welding slag is removed by the peeling component 68, the vibration and impact generated during the peeling process will not be transmitted to the positioning mechanism 4 because the aluminum profile of the second process does not come into contact with the positioning mechanism 4. This avoids the positioning deviation of the aluminum profile being welded inside the welding station 9 caused by vibration, thus preventing the welding accuracy deviation.

[0050] See attached document Figure 2 , Figure 4 , Figure 6 and Figure 7The stripping assembly 68 includes a second slide 681 that is slidably mounted on the surface of the second linear module 67. A slag stripper 683 is fixedly mounted on one side of the second slide 681 via a vibration damping seat 682. The vibration damping seat 682 can effectively buffer and absorb vibration, ensuring the stability of the slag stripper 683 when stripping slag and reducing the impact on the overall device.

[0051] According to the above structure, the slag stripper 683 includes a high-frequency vibrator 6831 fixedly installed on the surface of the vibration damping seat 682. The high-frequency vibrator 6831 is stably connected to the guide sleeve 6833 through the connecting flange 6832. The guide sleeve 6833 serves as a guide structure, providing a precise linear motion channel for the connecting rod 6834.

[0052] Specifically, the high-frequency oscillator 6831 is a high-frequency, low-amplitude vibrator that can generate high-frequency and low-amplitude vibrations. This vibration characteristic allows the slag to be effectively removed from the surface of the aluminum profile during the stripping process without causing excessive impact or damage to the aluminum profile itself.

[0053] More specifically, the connecting rod 6834 is positioned between the universal joint 6835 and the cutter head 6836. This design allows the connecting rod 6834 to transmit force while guiding the cutter head 6836 to move along a predetermined trajectory through the limiting plate 7.

[0054] Furthermore, the limiting plate 7 has a through groove inside, so that the connecting rod 6834 can only drive the cutter head 6836 to float at an angle of ±12° under the action of the through groove of the limiting plate 7 and the universal joint 6835. The floating design of the cutter head 6836 not only ensures that the cutter head 6836 has a certain degree of flexibility when peeling off the welding slag, and can adapt to welding slag of different shapes and positions, but also limits its floating range to prevent excessive floating from affecting the peeling effect or damaging the surface of the aluminum profile.

[0055] It should be noted that the 6836 blade is made of ultra-hard wear-resistant materials such as cemented carbide or ceramic, and its front end is designed to be pointed (the cutting edge angle is preferably 30°-45°), thus taking into account both the sharpness of the cut and its own strength. At the same time, the cutting edge of the 6836 blade can also be designed with tiny arcs or specific textures (such as spiral patterns) to optimize the prying and peeling effect.

[0056] Please refer to the appendix again. Figure 6 and Figure 7 A spring 8 is abutted between the bottom of the universal joint 6835 and the guide sleeve 6833. The spring 8 is pre-tightened to set the initial contact pressure (e.g., 50 N). This structure provides a constant and flexible contact pressure for the cutter head 6836.

[0057] It should be noted that the function of spring 8 is not to provide shock absorption, but to ensure that the cutter head 6836 can perform the weld slag removal operation with stable and appropriate pressure when it contacts the surface of the aluminum profile, so as to avoid damage to the surface of the aluminum profile due to excessive pressure, or incomplete removal due to insufficient pressure.

[0058] In actual operation, the preload of spring 8 can be flexibly adjusted or replaced according to the material, thickness and adhesion of the aluminum profile and the degree of weld slag to achieve the best peeling effect. At the same time, the setting of spring 8 also enables the cutter head 6836 to have a certain self-adaptive ability when encountering irregular weld slag or uneven surface, so as to maintain the continuity and stability of the peeling operation.

[0059] In addition, the design of the spring 8 in conjunction with the universal joint 6835 and the guide sleeve 6833 makes the entire slag stripper 683 more compact and reasonable in structure, improving the overall performance and reliability of the device.

[0060] Specifically, high-frequency micro-amplitude vibration can be generated by activating the high-frequency vibrator 6831. This high-frequency micro-amplitude vibration is transmitted to the guide sleeve 6833 through the connecting flange 6832, and further transmitted to the connecting rod 6834. Under the combined action of the universal joint 6835 and the guide sleeve 6833, the connecting rod 6834 drives the cutter head 6836 to perform high-frequency micro-amplitude vibration.

[0061] More specifically, under the action of the high-frequency micro-amplitude vibration of the 6836 cutting head, it can easily cut into the bonding surface between the welding slag and the aluminum profile, prying the welding slag off the surface of the aluminum profile and peeling it off.

[0062] Meanwhile, because spring 8 provides constant and flexible contact pressure, it ensures that the cutter head 6836 can press against the surface of the weld slag and the workpiece with a preset and constant force during the process of peeling off the weld slag, no matter what the situation, thereby ensuring the consistency and stability of the peeling effect.

[0063] See attached document Figure 1 , Figure 4 and Figure 5 After the stripping component 68 strips the slag from one side of the aluminum profile in the second process, it can be repositioned and clamped by the positioning and clamping component 44 inside the slag removal station 10. The aluminum profile in the second process can be flipped by starting the flipping motor 445. The operation of the stripping component 68 is repeated to achieve the self-stripping of the slag from multiple sides of the welded aluminum profile.

[0064] Furthermore, compared to manual hammering or subsequent complex processes, the setting of the peeling component 68 not only significantly improves production efficiency, but also greatly reduces labor intensity and production costs.

[0065] Furthermore, after the second process of removing welding slag from multiple sides of the aluminum profile is completed, and after manual inspection, the loading and unloading mechanism 6 is activated to move the aluminum profile of the third process inside the slag removal station 10 to the top of the conveyor frame 5, and can be sent to the next process through the conveyor frame 5. Here, the aluminum profile of the third process refers to the aluminum profile that has completed welding and welding slag removal.

[0066] In some other embodiments, a vision inspection system can be installed inside the slag removal station 10, on top of the support frame 3. The vision inspection system can be used to collect images and drive the aluminum profile to flip through the positioning mechanism 4, so as to detect the aluminum profile after the welding slag is removed. The vision inspection system can use a high-resolution vision camera, which can accurately capture the minor defects and residual welding slag on the surface of the aluminum profile.

[0067] As can be further explained, when the conveyor 5 transports the finished aluminum profile to the downstream processing line, the new first-process aluminum profile can be sent to the top of the loading and unloading mechanism 6 through the conveyor 5, and then sent to the inside of the slag removal station 10 to wait for welding through the loading and unloading mechanism 6. By repeating the above operation process, continuous automated production of aluminum profile welding and slag removal can be realized.

[0068] The working principle of this invention is as follows: First, the ground rail 1 provides support and a moving track. The welding robot 2 is positioned and driven by the drive unit 24 and the mounting base 22 to adjust the robotic arm 21 to the weld seam of the aluminum profile in the first process after initial spot welding. The robotic arm 21 can move flexibly. In the initial state, the conveyor frame 5 sends the aluminum profile to be welded to the designated position. The positioning mechanism 4 on the upright frame 3 works, and the drive mechanism 41 drives the frame 42 to rotate, so that the positioning clamping assembly 44 is in place. The first linear module 443 drives the first slide 444, which drives the first clamping cylinder 446 to abut against both ends of the aluminum profile to be welded. The force feedback sensor ensures stable positioning and adapts to different specifications. For irregular profiles, the first motor 441 can adjust the angle. After positioning is completed, the industrial camera 23 of welding robot 2 acquires the weld seam image and transmits it to the decision layer to match and determine the feature specifications. If the specifications are known, the welding process parameter matching module matches the parameters and inputs them into the execution layer, and welding robot 2 welds accurately. During welding, the loading and unloading mechanism 6 sends another aluminum profile to the positioning mechanism 4 to wait. After welding is completed, the drive mechanism 41 cooperates with the frame 42 to make the aluminum profile switch positions between the welding station 9 and the slag removal station 10. The new material enters the welding station 9, and the one that has completed welding enters the slag removal station 10. The first motor 441 drives it to rotate. The push-pull cylinder 62 of the loading and unloading mechanism 6 pushes the component to the bottom of the profile, the lifting cylinder 64 pushes the second clamping cylinder 66 to clamp the profile, the positioning mechanism 4 releases the positioning, the third linear module 12 and the second linear module 67 drive the peeling assembly 68 to the weld position, in the peeling assembly 68, the high-frequency vibrator 6831 is activated to vibrate, the force is transmitted through the connecting flange 6832, the connecting rod 6834 drives the cutter head 6836 to vibrate at high frequency and micro amplitude, and the spring 8 provides pressure to peel off the weld slag; After the single-sided welding slag is removed, the positioning mechanism 4 repositions the profile, and the flipping motor 445 flips the profile. The operation is repeated to achieve multi-sided welding slag self-removal. After completion, manual inspection is performed, the push-pull cylinder 62 retracts, and the profile is sent to the next process through the conveyor frame 5. The conveyor frame 5 sends the new profile to be welded to the loading and unloading mechanism 6, and then to the positioning mechanism 4 through the loading and unloading mechanism 6, to achieve continuous automated production.

[0069] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A synchronous positioning welding device for multi-specification aluminum profiles and a slag self-removal mechanism, characterized in that, include: The lifting cylinder (64) pushes the second clamping cylinder (66) to drive the first process aluminum profile at the top of the conveyor frame (5) to move vertically, and the push-pull cylinder (62) drives the second clamping cylinder (66) and the first process aluminum profile to move to the interior of the slag removal station (10), and positions the first process aluminum profile through the positioning clamping assembly (44) inside the slag removal station (10); The positioning clamping component (44) is connected to the driving mechanism (41) via the frame (42). The driving mechanism (41) drives the frame (42) and causes the positioning clamping component (44) inside the slag removal station (10) to rotate circumferentially, so that the first process aluminum profile inside the slag removal station (10) moves to the inside of the welding station (9). The first process aluminum profile set in the welding station (9) is welded by the welding robot (2) and then moved to the inside of the slag removal station (10) via the driving mechanism (41) and the frame (42). The lifting cylinder (64) drives the second process aluminum profile to move to one side of the peeling component (68) through the second clamping cylinder (66). The peeling component (68) moves linearly along the X-axis through the second linear module (67). The second linear module (67) moves linearly along the Y-axis through the third linear module (12) and is used to peel off the weld slag from the single-sided weld of the second process aluminum profile. The flipping motor (445) and the first clamping cylinder (446) of the positioning clamping component (44) are used to drive the second process aluminum profile to flip, and peel off the weld slag from multiple sides of the second process aluminum profile through the second clamping cylinder (66) and the peeling component (68).

2. The synchronous positioning and welding device for multi-specification aluminum profiles according to claim 1, characterized in that: A conveyor frame (5) is also provided on one side of the positioning mechanism (4). The conveyor frame (5) drives the aluminum profile of the first process to move to the top of the loading and unloading mechanism (6), and moves to the inside of the slag removal station (10) through the loading and unloading mechanism (6). The aluminum profile of the first process is transported to the inside of the welding station (9) through the positioning mechanism (4). The loading and unloading mechanism (6) drives the aluminum profile of the third process inside the slag removal station (10) to move to the top of the conveyor frame (5).

3. The synchronous positioning and welding device for multi-specification aluminum profiles according to claim 1, characterized in that: The frame (42) is fixedly equipped with baffles (43) at the top and bottom. The baffles (43) are used to separate the welding station (9) and the slag removal station (10), so that the baffles (43) can prevent the welding slag inside the slag removal station (10) from splashing into the welding station (9). The frame (42) is equipped with two sets of independently controlled positioning and clamping assemblies (44).

4. The synchronous positioning and welding device for multi-specification aluminum profiles according to claim 3, characterized in that: The positioning and clamping assembly (44) includes a first motor (441) fixedly installed on the outside of the frame (42). The first motor (441) is used to drive the mounting plate (442) to drive the first linear module (443) to rotate in a circular motion, so that the first linear module (443) drives the first clamping cylinder (446) to move synchronously through the first slide (444). The first linear module (443) drives its first slide (444) to move synchronously in opposite directions, and the two sets of first slides (444) are arranged in a mirror image, and the two sets of first slides (444) drive the two sets of first clamping cylinders (446) to move synchronously to both ends of the aluminum profile and abut against it.

5. The synchronous positioning and welding device for multi-specification aluminum profiles according to claim 4, characterized in that: The first motor (441) and the first clamping cylinder (446) are used to drive the aluminum profile of the first process inside the welding station (9) to rotate eccentrically. The flipping motor (445) fixedly installed on one side of the first slide (444) is used to drive the aluminum profile inside the welding station (9) to flip.

6. The synchronous positioning and welding device for multi-specification aluminum profiles according to claim 1, characterized in that: The welding robot (2) is provided in two sets and is controlled independently. The two sets of welding robots (2) are mirrored and slidably installed on the top of the ground rail (1); The welding robot (2) includes a robotic arm (21) fixedly mounted on the top of the mounting base (22), and an industrial camera (23) and a drive unit (24) fixedly mounted on the surface of the mounting base (22). The industrial camera (23) drives the mounting base (22) to move linearly on the top of the ground rail (1), so that the welding part of the robotic arm (21) moves to the weld seam side of the first process aluminum profile inside the welding station (9).

7. The slag self-removal mechanism according to claim 1, characterized in that: The lifting cylinder (64) pushes the second clamping cylinder (66) to position the aluminum profile of the second process, and drives the aluminum profile of the second process to move to one side of the peeling assembly (68) through the push-pull cylinder (62); The peeling component (68) is slidably installed with the second linear module (67), and the second linear module (67) is slidably installed with the third linear module (12). The second linear module (67) drives the peeling component (68) to move to the side of the aluminum profile weld in the second process, and the third linear module (12) drives one end of the peeling component (68) to abut against the aluminum profile.

8. The slag self-removal mechanism according to claim 7, characterized in that: The stripping assembly (68) includes a second slide (681) slidably mounted on the surface of the second linear module (67), and a weld slag stripper (683) is fixedly mounted on one side of the second slide (681) by a vibration damping seat (682). The slag stripper (683) includes a high-frequency vibrator (6831) fixedly installed on the surface of the vibration damping seat (682). The high-frequency vibrator (6831) is fixedly installed with a guide sleeve (6833) through a connecting flange (6832). A connecting rod (6834) is provided inside the guide sleeve (6833) through a limiting plate (7). The connecting rod (6834) is located between the universal joint (6835) and the cutter head (6836).

9. The slag self-removal mechanism according to claim 1, characterized in that: A spring (8) abuts between the bottom of the universal joint (6835) and the guide sleeve (6833). The limiting plate (7) is provided with a limiting groove. The cutting head (6836) swings inside the guide sleeve (6833) through the limiting groove and the universal joint (6835).

10. A machine vision-based weld seam recognition and automatic welding method, applied to the multi-specification aluminum profile synchronous positioning welding device and weld slag self-removal mechanism as described in any one of claims 1-9, characterized in that, Includes the following steps: The industrial camera (23) in the perception layer acquires an image of the first process aluminum profile weld area inside the welding station (9) and transmits the acquired image information to the decision layer; The weld location and type are obtained by the weld identification and feature extraction module of the decision layer. The weld identification and feature extraction module calls the weld feature database to match the obtained weld location and type to determine whether the weld feature of the aluminum profile in the first process is a known predetermined specification. If the weld features of the aluminum profile in the first process are known predetermined specifications, then the weld feature data is used as a key input to the process parameter matching module, and the process parameter matching module calls the welding process parameter database for matching based on the weld feature data; The welding process parameters that match the seam feature data are output from the welding process parameter database. The welding process parameters include welding path, welding current, welding voltage, welding speed and welding gas flow rate, and the welding process parameters are transmitted to the execution layer. After receiving the process parameters, the execution layer controls the robotic arm (21) of the welding robot (2) to perform welding operations according to the planned welding path, welding current, welding voltage, welding speed and welding gas flow rate.

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