Polygonal curved surface surfacing device

Abstract

The utility model belongs to the technical field of welding, and discloses a polygonal curved surface surfacing device which comprises a mechanical arm, a laser tracker and a welding gun are arranged at the free end of the mechanical arm, a first station area and a second station area are arranged on the side edge of the mechanical arm, a welding table is arranged at the first station area and used for placing a workpiece to be welded, and a second station area is arranged at the second station area. A first supporting frame is arranged on one side of the first station area, and a first 3D camera is installed on the first supporting frame in a sliding mode and located above the welding table. A visual reference piece is arranged on the welding table and makes contact with a workpiece to be welded. The surfacing device can solve the surfacing problem of polygonal complex curved surfaces and complex curved surfaces with polygonal holes, reduces manpower requirements and manpower cost, and brings better economic benefits.

Description

Technical Field

[0001] The utility model belongs to the technical field of welding, and in particular relates to a polygonal curved surface surfacing device. Background Art

[0002] Traditional robot cladding is to realize multi-layer cladding of flat or curved surfaces through robot teaching programming, but this method requires the workpiece shape to be fixed, the contour of the cladding surface to be high, and the workpiece positioning to be accurate. Each product has a fixed cladding program, which is not suitable for cladding of large workpieces and single small batch products.

[0003] The existing 3D vision technology obtains point cloud data through visual scanning, performs image processing and template editing. Although it can obtain the general outline of the surface, the software development cost is high, the efficiency is low, and the path planning algorithm is complex.

[0004] With the continuous development of vision technology and laser tracking technology, intelligent surfacing of thick and irregular flat and curved surfaces has become possible. Utility Model Content

[0005] The utility model aims to solve the above technical problems at least to a certain extent. To this end, the utility model aims to provide a polygonal curved surface surfacing device.

[0006] The technical solution adopted by the utility model is:

[0007] A polygonal curved surface surfacing device comprises a manipulator, a laser tracker and a welding gun are arranged on the free end of the manipulator, a first workstation area and a second workstation area are arranged on the side of the manipulator, a welding table is arranged at the first workstation area, the welding table is used to place a workpiece to be welded, a first support frame is arranged at one side of the first workstation area, a first 3D camera is slidably mounted on the first support frame, and the first 3D camera is located above the welding table; a welding turntable is arranged at the second workstation area, the welding turntable is used to place the workpiece to be welded, a second support frame is arranged at one side of the second workstation area, a second 3D camera is slidably mounted on the second support frame, and the second 3D camera is located above the welding turntable; both the welding table and the welding turntable are provided with visual reference parts, and the visual reference parts are arranged in contact with the workpiece to be welded.

[0008] Preferably, a first inverted T-shaped member is installed on the cross bar at the top of the first support frame, a sliding groove is provided at the bottom of the first inverted T-shaped member, a first sliding member is slidably provided on the sliding groove, and the first 3D camera is installed on the first sliding member.

[0009] Preferably, the welding turntable comprises a base, a support and a first motor are arranged on the base, the support is rotatably connected to the base, and the support is also connected to the first motor; a turntable and a second motor are arranged on the support, the turntable is rotatably connected to the support, and the turntable is also connected to the second motor. A tightening cylinder is also arranged on the support, and the tightening cylinder is located below the turntable.

[0010] Preferably, a grid plate is provided in parallel on the welding table, and the workpieces to be welded and the visual reference pieces are placed on the grid plate.

[0011] Preferably, a mounting seat is provided on the free end of the manipulator, the laser tracker is arranged on one side of the mounting seat, an annular mounting piece is provided on the top of the mounting seat, and the welding gun is arranged in the annular mounting piece.

[0012] The beneficial effects of the utility model are:

[0013] The utility model provides a polygonal surface surfacing device, which determines the boundary contour and welding starting point through a 3D camera, confirms the boundary point of a set moving range as the starting point of each weld segment through a laser tracker, and simultaneously feedback controls the distance between the welding gun and the surfacing surface; it can solve the surfacing problem of polygons and complex surfaces with polygonal holes, reduce manpower requirements and manpower costs, and bring better economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a polygonal curved surface surfacing device of the utility model.

[0015] Figure 2 It is a schematic diagram of the polygonal curved surface surfacing device of the utility model from another angle.

[0016] Figure 3 yes Figure 2 Enlarged view of part A.

[0017] Figure 4 It is a schematic diagram of the welding turntable of the utility model.

[0018] Figure 5 It is a schematic diagram of the welding working principle of the polygonal curved surface surfacing welding device of the utility model.

[0019] In the figure: 1-manipulator; 2-laser tracker; 3-welding gun; 4-welding table; 5-grid plate; 6-first workpiece; 7-first support frame; 8-first inverted T-shaped member; 9-first sliding member; 10-first 3D camera; 11-base; 12-support; 13-first motor; 14-turntable; 15-second motor; 16-tightening cylinder; 17-second workpiece; 18-second support frame; 19-second 3D camera; 20-visual reference member; 21-mounting seat; 22-annular mounting member; 23-laser beam. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention. The components of the embodiments of the present invention generally described and shown in the accompanying drawings herein can be arranged and designed in a variety of different configurations.

[0021] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements.

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 5 As shown, a polygonal curved surface surfacing device of this embodiment includes a manipulator 1, a laser tracker 2 and a welding gun 3 are provided on the free end of the manipulator 1, a first work area and a second work area are provided on the side of the manipulator 1, a welding table 4 is provided at the first work area, a grid plate 5 is provided parallel to the welding table 4, and a first workpiece 6 to be welded is placed on the grid plate 5. A first support frame 7 is provided at one side of the first work area, a first inverted T-shaped member 8 is installed on the cross bar at the top of the first support frame 7, a slide groove is provided at the bottom of the first inverted T-shaped member 8, a first slide member 9 is slidably provided on the slide groove, and a first 3D camera 10 is installed on the first slide member 9, and the position of the first 3D camera 10 is adjusted by sliding so that the first 3D camera 10 is located above the welding table 4.

[0024] A welding turntable is provided at the second workstation area. The welding turntable includes a base 11. A support 12 and a first motor 13 are provided on the base 11. The support 12 is rotatably connected to the base 11. The support 12 is also connected to the first motor 13. The first motor 13 can drive the support 12 to rotate and tilt. A turntable 14 and a second motor 15 are provided on the support 12. The turntable 14 is rotatably connected to the support 12. The turntable 14 is also connected to the second motor 15. The second motor 15 can drive the turntable 14 to rotate in a circle. A tightening cylinder 16 is also provided on the support 12. The tightening cylinder 16 is located below the turntable 14. The tightening cylinder 16 can lock the turntable 14.

[0025] A second workpiece 17 to be welded is placed on the turntable 14, a second support frame 18 is provided at one side of the second workstation, a second 3D camera 19 is slidably mounted on the second support frame 18, and the position of the second 3D camera 19 is adjusted by sliding so that the second 3D camera 19 is located above the welding turntable. The workpieces on the turntable 14 can be placed symmetrically, so that when the turntable 14 rotates 180°, the second 3D camera 19 can still work normally.

[0026] Like the first support frame 7 , the second support frame 18 is also provided with an inverted T-shaped piece, a sliding groove and a sliding piece, so as to achieve position adjustment of the second 3D camera 19 .

[0027] The polygonal curved surface surfacing device meets different welding requirements by setting a first work area and a second work area, and setting a welding table and a welding turntable in different work areas.

[0028] A mounting seat 21 is provided on the free end of the manipulator 1, the laser tracker 2 is provided on one side of the mounting seat 21, an annular mounting member 22 is provided on the top of the mounting seat 21, and the welding gun 3 is provided in the annular mounting member 22. Figure 3 As shown, the installed laser tracker 2 faces the welding gun 3 , that is, the laser beam 23 emitted by the laser tracker 2 will cover the front end of the welding gun 3 .

[0029] The welding table 4 and the welding rotary table are both provided with a visual reference member 20, and the visual reference member 20 is arranged in contact with the workpiece to be welded. Figure 5 As shown, taking the first workpiece 6 on the grid plate 5 as an example, when the polygonal curved surface surfacing device is used, a 3D camera is used to determine the welding starting point on the visual reference part within the field of view, and the movement of the robot in the set welding trajectory is used to drive the laser tracker to find the boundary point of the set movement range as the starting point of each weld. On the surfacing surface, the laser tracker feeds back the distance information to the robot in real time, and compares it with the set value, guiding the robot to compensate the difference in real time, ensuring a certain welding distance, and realizing accurate surfacing of the workpiece surface. At the same time, when the robot reaches the boundary position from the workpiece surface, the laser will also feed back to the control system, the surfacing ends, and the robot deviates a fixed distance to the next weld.

[0030] It should be noted that the above control system can be implemented using existing technologies.

[0031] The present utility model is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present utility model. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present utility model fall within the protection scope of the present utility model.

Claims

1. A polygonal surface surfacing device, characterized in that: The invention comprises a manipulator (1), wherein a laser tracker (2) and a welding gun (3) are arranged on the free end of the manipulator (1), and a first workstation area and a second workstation area are arranged on the side of the manipulator (1), wherein a welding table (4) is arranged at the first workstation area, and the welding table (4) is used to place a workpiece to be welded, and a first support frame (7) is arranged at one side of the first workstation area, and a first 3D camera (10) is slidably mounted on the first support frame (7), and the first 3D camera (10) is located above the welding table (4); a welding turntable is arranged at the second workstation area, and the welding turntable is used to place the workpiece to be welded, and a second support frame (18) is arranged at one side of the second workstation area, and a second 3D camera (19) is slidably mounted on the second support frame (18), and the second 3D camera (19) is located above the welding turntable; and a visual reference piece (20) is arranged on both the welding table (4) and the welding turntable, and the visual reference piece (20) is arranged in contact with the workpiece to be welded.

2. The polygonal surface surfacing device according to claim 1, characterized in that: A first inverted T-shaped member (8) is installed on the crossbar at the top of the first support frame (7), a sliding groove is provided at the bottom of the first inverted T-shaped member (8), a first sliding member (9) is slidably provided on the sliding groove, and a first 3D camera (10) is installed on the first sliding member (9).

3. The polygonal surface surfacing device according to claim 1, characterized in that: The welding turntable comprises a base (11), a support (12) and a first motor (13) are provided on the base (11), the support (12) is rotatably connected to the base (11), and the support (12) is also connected to the first motor (13); a turntable (14) and a second motor (15) are provided on the support (12), the turntable (14) is rotatably connected to the support (12), and the turntable (14) is also connected to the second motor (15).

4. The polygonal surface surfacing device according to claim 3, characterized in that: The support (12) is also provided with a tightening cylinder (16), and the tightening cylinder (16) is located below the turntable (14).

5. The polygonal surface surfacing device according to claim 1, characterized in that: A grid plate (5) is arranged parallel to the welding table (4), and the workpiece to be welded and the visual reference piece (20) are placed on the grid plate (5).

6. The polygonal surface surfacing device according to claim 1, characterized in that: A mounting seat (21) is provided on the free end of the manipulator (1), a laser tracker (2) is provided on one side of the mounting seat (21), an annular mounting piece (22) is provided on the top of the mounting seat (21), and a welding gun (3) is provided in the annular mounting piece (22).

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