Laser displacement tracking welding gun device

Abstract

The utility model discloses a laser displacement tracking welding gun device, and belongs to the technical field of automatic welding equipment. A welding gun is included. The welding gun is fixed to one end of the magnetic bumper, and the other end of the magnetic bumper is connected to the six-axis end face of the welding robot. The welding gun is connected with a laser displacement sensor, a protective shell is arranged in front of the laser displacement sensor, and the protective shell is connected with an air cylinder used for controlling the protective shell to rotate. The laser displacement sensor is used for scanning a pipeline groove area, accurate tracking of a welding seam is achieved, and the automatic welding efficiency and the welding quality are improved; the cylinder controls the protective shell to protect the laser displacement sensor, so that the service life of the laser displacement sensor is prolonged; the magnetic anti-collision device is used for feeding back the collision condition to the welding robot, so that the welding robot automatically stops welding, an operator, the robot and a welding gun assembly are protected, the assembly replacement frequency is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automated welding equipment, in particular to a laser displacement tracking welding gun device. Background Art

[0002] When laying and docking pipelines, manual on-site welding takes a long time and is a heavy task, and the welding quality depends on the skill level of the welders. In prefabricated pipelines, the use of robot automatic welding can reduce the welding workload of personnel, ensure uniform welding quality, and improve work efficiency. Therefore, with the development of the pipeline transportation industry, pipeline prefabrication plays an important role in more and more projects. Due to the short construction period of pipelines and the high quality requirements for pipeline circumferential seams, the development and application of intelligent equipment for automatic welding of pipeline positions that can meet the urgent needs of the project and achieve high-quality welding has become of great significance. Utility Model Content

[0003] The utility model aims to provide a laser displacement tracking welding gun device, which utilizes a laser displacement sensor to extract the morphology of a pipeline rupture and further realizes automatic welding of the pipeline rupture.

[0004] The utility model adopts the following technical scheme: a laser displacement tracking welding gun device, comprising a welding gun; the welding gun is fixed at one end of a magnetic bumper, and the other end of the magnetic bumper is connected to the six-axis end face of a welding robot; the welding gun is connected to a laser displacement sensor, a protective shell is arranged in front of the laser displacement sensor, and the protective shell is connected to a cylinder for controlling the rotation of the protective shell.

[0005] Preferably: the welding gun is fixedly connected to the bumper mounting block; a transition plate is fixedly provided on one side of the bumper mounting block, and the transition plate is fixedly connected to a sensor mounting plate for mounting a laser displacement sensor.

[0006] Preferably, the welding gun and the bumper mounting block are fixed together at one end of the magnetic bumper through a step pin.

[0007] Preferably, a positioning hole and an arc-shaped groove with the positioning hole as the center are formed on the sensor mounting plate; the laser displacement sensor is connected to the positioning hole and the arc-shaped groove of the sensor mounting plate by bolts.

[0008] Preferably: a cylinder mounting plate is fixedly connected to the sensor mounting plate, and the cylinder and the protective shell are mounted on the cylinder mounting plate.

[0009] Preferably: one end of the shield connector is hinged to the output end of the cylinder, and the other end of the shield connector is fixedly connected to the protective shell; one end of the hinge connector is hinged to the middle of the shield connector, and the other end of the hinge connector is hinged to the cylinder mounting plate.

[0010] The beneficial effects of the utility model are:

[0011] (1) Use a laser displacement sensor to scan the pipeline groove area to achieve accurate tracking of the weld, and then use a welding robot to adjust the welding gun posture to complete automatic and accurate welding of the pipeline groove, thereby improving automated welding efficiency and welding quality;

[0012] (2) The protective shell is opened by the cylinder control, and the laser displacement sensor can quickly scan the calibration position; at the same time, it is closed during the welding process, and the protective shell is closed by the cylinder control to protect the laser displacement sensor, which can prevent welding smoke and slag from damaging the laser displacement sensor and increase the service life of the laser displacement sensor;

[0013] (3) When the welding gun device collides and exceeds the set torque, the magnetic anti-collision device is used to provide feedback to the welding robot, causing it to automatically stop welding, thereby protecting the operator and the components of the robot and welding gun, reducing the frequency of component replacement, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 The utility model is a schematic diagram of the structure of a laser displacement tracking welding gun device.

[0016] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0017] Figure 3 This is the front view of the utility model without the welding robot.

[0018] Figure 4 It is a connection diagram of a welding gun, a magnetic bumper and a bumper mounting block in the utility model.

[0019] Figure 5 It is an exploded view of the connection between the welding gun, the magnetic bumper and the bumper mounting block in the utility model.

[0020] Explanation of the accompanying drawings: 1. welding robot; 2. magnetic anti-collision device; 3. welding gun; 4. anti-collision device mounting block; 5. cylinder; 6. laser displacement sensor; 7. protective shell; 8. sensor mounting plate; 81. positioning hole; 82. arc groove; 9. transition plate; 10. cylinder mounting plate; 11. protective cover connector; 12. hinge connector; 13. step pin. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] Combination Figures 1 to 5 As shown, a laser displacement tracking welding gun device, a step hole is provided in the connection seat under the welding gun 3, a step pin 13 is inserted into the step hole, the welding gun 3 and the bumper mounting block 4 are fixed to one end of the magnetic bumper 2 through the step pin 13, and the positioning and installation accuracy of the welding gun 3 is improved through the step pin 13. The other end of the magnetic bumper 2 is fixed to the six-axis end surface of the welding robot 1 through screws and pin holes.

[0023] Combination Figure 2 and Figure 3 As shown, a transition plate 9 is fixed to one side of the bumper mounting block 4. The transition plate 9 is L-shaped, and the other end of the transition plate 9 is fixedly connected to the sensor mounting plate 8. A positioning hole 81 is provided at the lower right corner of the sensor mounting plate 8, and an arc groove 82 with the positioning hole 81 as the center is provided at the upper left corner. The laser displacement sensor 6 is connected to the positioning hole 81 and the arc groove 82 of the sensor mounting plate 8 by bolts. By setting the arc groove 82, the installation angle of the laser displacement sensor 6 can be adjusted to meet the installation accuracy.

[0024] One end face of the sensor mounting plate 8 is fixedly connected to a cylinder mounting plate 10, and the cylinder 5 is fixed on the cylinder mounting plate 10. The upper end of the protective shell 7 is fixedly connected to a protective cover connector 11, and the upper end of the protective cover connector 11 is hinged to the output end of the cylinder 5. The middle of the protective cover connector 11 is hinged to a hinge connector 12, and the other end of the hinge connector 12 is hinged to the cylinder mounting plate 10. The protective shell 7 is made of brass, and the rotation of the protective shell 7 is controlled by the cylinder 5. The protective shell 7 can protect the laser displacement sensor 6 from the influence of welding slag during the welding process.

[0025] When working,

[0026] The welding robot 1 teaches the program points of a circle of the pipeline, uses the laser displacement sensor 6 to scan the groove area, collects information and transfers it to the PLC controller; based on the collected data of the PLC, it compares and calculates with the original pipeline diameter, and based on the logical calculation of the deviation, calculates the deviation of each point and records it and transfers it to the welding robot 1 program end, adjusts the posture of the welding gun 3, realizes accurate tracking of the weld, and improves the efficiency and quality of automated welding;

[0027] When the welding gun 3 collides and exceeds the set torque, the magnetic anti-collision device 2 is used to feed back to the PLC controller, and the PLC controller automatically stops welding based on logic judgment. This can solve the problem of collision during manual teaching of the pipeline, protect the operator and the components of the robot and welding gun, reduce the frequency of component replacement, and improve production efficiency.

[0028] When the laser displacement sensor 6 scans the groove area, the cylinder 5 controls the protective shell 7 to open, and the laser displacement sensor 6 can quickly scan the calibration position; before starting welding, the cylinder 5 controls the protective shell 7 to close to prevent welding smoke and slag from damaging the laser displacement sensor 6, thereby increasing the service life of the laser displacement sensor 6.

[0029] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A laser displacement tracking welding gun device, comprising a welding gun (3); characterized in that: The welding gun (3) is fixed to one end of a magnetic bumper (2), and the other end of the magnetic bumper (2) is connected to the six-axis end face of the welding robot (1); the welding gun (3) is connected to a laser displacement sensor (6), a protective shell (7) is arranged in front of the laser displacement sensor (6), and the protective shell (7) is connected to a cylinder (5) for controlling the rotation of the protective shell (7).

2. A laser displacement tracking welding gun device according to claim 1, characterized in that: The welding gun (3) is fixedly connected to the bumper mounting block (4); a transition plate (9) is fixedly connected to one side of the bumper mounting block (4), and the transition plate (9) is fixedly connected to a sensor mounting plate (8) for mounting a laser displacement sensor (6).

3. A laser displacement tracking welding gun device according to claim 2, characterized in that: The welding gun (3) and the bumper mounting block (4) are fixed together on one end of the magnetic bumper (2) via a step pin (13).

4. A laser displacement tracking welding gun device according to claim 2, characterized in that: The sensor mounting plate (8) is provided with a positioning hole (81) and an arc-shaped groove (82) with the positioning hole (81) as the center; the laser displacement sensor (6) is connected to the positioning hole (81) and the arc-shaped groove (82) of the sensor mounting plate (8) by means of bolts.

5. The laser displacement tracking welding gun device according to claim 2, characterized in that: The sensor mounting plate (8) is fixedly connected to a cylinder mounting plate (10), and the cylinder (5) and the protective shell (7) are mounted on the cylinder mounting plate (10).

6. A laser displacement tracking welding gun device according to claim 5, characterized in that: One end of the protective cover connecting piece (11) is hinged to the output end of the cylinder (5), and the other end of the protective cover connecting piece (11) is fixedly connected to the protective shell (7); one end of the hinge connecting piece (12) is hinged to the middle part of the protective cover connecting piece (11), and the other end of the hinge connecting piece (12) is hinged to the cylinder mounting plate (10).

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