Robot welding system for bottom plate of commercial vehicle
Through the combination of 3D cameras and laser trackers, the high precision and large-scale position fault tolerance of the bottom plate robot welding system of commercial vehicle are achieved, solving the problems of welding flexibility and efficiency in the existing technology, and significantly improving welding efficiency and consistency.
Patent Information
- Application Number
- CN202420548169.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-20
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-03-20
AI Technical Summary
The existing commercial vehicle bottom plate robot welding technology cannot achieve welding that deviates from the workpiece at a large range, limiting the flexibility and efficiency of welding.
The 3D camera and laser tracker are used to take photos and identify the workpieces through the 3D camera, and combine them with the laser tracker to automatically correct deviations to achieve high accuracy and large-scale position fault tolerance in the welding system.
It greatly improves welding efficiency and consistency, reduces labor demand and costs, and is suitable for welding of commercial vehicle floor plates and other large workpieces.
Smart Images
Figure CN222327097U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of welding, and in particular relates to a commercial vehicle floor robot welding system. Background Art
[0002] Existing commercial vehicle floor robot welding is mainly achieved by arc tracking or laser tracking. The traditional robot arc tracking technology uses the robot's supporting arc tracking software to calculate the welding gun position offset through the voltage change during the welding process, and automatically compensates to achieve real-time tracking of the weld. This technology requires wire cutting every time the arc is started, and it cannot achieve welding with a large range of position deviation from the workpiece. Laser tracking technology requires laser irradiation of the weld position, and finds the weld position through an algorithm. The correction range is about ±15mm, and it also cannot achieve welding with a large range of position deviation from the workpiece. Utility Model Content
[0003] 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 commercial vehicle floor panel robot welding system.
[0004] The technical solution adopted by the utility model is:
[0005] A commercial vehicle floor robot welding system comprises a host computer, a robot platform and a tooling platform, wherein the robot platform and the tooling platform are arranged in parallel, a conveying roller is arranged on the tooling platform, a mounting frame is slidably mounted on the robot platform, a robot arm and a supporting frame are arranged on the mounting frame, a laser tracker and a welding gun are mounted on the free end of the robot arm, a 3D camera is mounted on the supporting frame, the laser tracker, the welding gun and the 3D camera are all located above the tooling platform, and the host computer is electrically connected to the laser tracker, the welding gun, the 3D camera and the robot arm respectively.
[0006] Preferably, a driving motor is provided on the mounting frame, the driving motor is connected to a driving gear, a rack is provided on the robot platform, and the driving gear is meshed with the rack.
[0007] Preferably, a slide groove is provided at the bottom of the support frame, a positioning piece is slidably installed in the slide groove, a screw hole is provided on the positioning piece, a set screw is installed in the screw hole, and the 3D camera is installed on the positioning piece.
[0008] Preferably, a plurality of positioning blocks are provided on the tooling platform, and the positioning blocks are in contact with at least two side surfaces of the workpiece.
[0009] Preferably, there are two robot arms, which are symmetrically arranged on both sides of the 3D camera.
[0010] The beneficial effects of the utility model are:
[0011] The utility model provides a commercial vehicle floor robot welding system, which uses a 3D camera and a laser tracker to complete the welding of the commercial vehicle floor, solving the welding problem of poor splicing consistency of commercial vehicle floor, greatly reducing manpower requirements and manpower costs, greatly improving welding efficiency, and bringing better economic benefits. At the same time, the welding system is also suitable for large workpieces such as steel structures and engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 It is a stereoscopic diagram of a commercial vehicle floor panel robot welding system of the utility model.
[0013] Figure 2 yes Figure 1 Enlarged view of part A.
[0014] Figure 3 It is a side view of a commercial vehicle floor panel robot welding system of the utility model.
[0015] In the figure: 1-host computer; 2-robot platform; 3-tooling platform; 4-conveying roller; 5-positioning block; 6-mounting frame; 7-robot arm; 8-laser tracker; 9-welding gun; 10-support frame; 11-positioning piece; 12-3D camera; 13-driving motor; 14-workpiece. DETAILED DESCRIPTION
[0016] 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.
[0017] 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.
[0018] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0019] like Figures 1 to 3As shown, a commercial vehicle floor robot welding system of the present embodiment includes a host computer 1, a robot platform 2 and a tooling platform 3, wherein the robot platform 2 and the tooling platform 3 are arranged in parallel, and two rows of conveying rollers 4 are provided on the tooling platform 3, and the conveying rollers 4 are used to transport a workpiece 14, and the workpiece 14 in the present embodiment is a commercial vehicle floor; a plurality of positioning blocks 5 are provided on the tooling platform 3, and the positioning blocks are arranged in a row and a row, and a row of positioning blocks and a column of positioning blocks are respectively in contact with two adjacent side surfaces of the workpiece 14 to position the workpiece 14.
[0020] A mounting frame 6 is slidably mounted on the robot platform 2. Specifically, a driving motor 13 is provided on the mounting frame 6, and the driving motor 13 is connected to a driving gear. A rack is provided on the robot platform 2, and the driving gear is meshed with the rack. After the driving motor 13 is started, the mounting frame 6 can move along the robot platform 2, so that the mounting frame 6 can move to a set position.
[0021] The top part of the mounting frame 6 extends toward the tooling platform 3, and a robot arm 7 and a support frame 10 are provided on the extended part. A laser tracker 8 and a welding gun 9 are installed on the free end of the robot arm 7; a slide groove is provided at the bottom of the support frame 10, and a positioning member 11 is slidably installed in the slide groove. The positioning member 11 is provided with a screw hole, and a fixing screw is installed in the screw hole. A 3D camera 12 is installed on the positioning member 11. The position of the 3D camera can be adjusted by the positioning member 11, and is fixed by the fixing screw after being adjusted into place.
[0022] The laser tracker 8 , the welding gun 9 and the 3D camera 12 are all located above the tooling platform 3 , and the host computer 1 is electrically connected to the laser tracker 8 , the welding gun 9 , the 3D camera 12 and the robot arm 7 , respectively.
[0023] Before welding, the robot welding system for the floor of a commercial vehicle takes a picture of the workpiece through the 3D camera 12 and feeds it back to the host computer 1. The host computer 1 identifies the type of workpiece, the placement position and the placement posture of the workpiece to form a user coordinate system. The host computer 1 sends the data to the robot arm 7, and the welding is ready. During welding, the robot arm 7 drives the laser tracker 8 to first scan the weld position to obtain the deviation between the weld position and the theoretical position, and the host computer 1 automatically corrects the deviation position. The visual recognition of the 3D camera and the host computer 1 can ensure that the workpiece has a large position tolerance; the laser tracker can ensure the weld quality when the weld consistency is poor.
[0024] In this embodiment, two robot arms 7 are provided. The two robot arms 7 are symmetrically arranged on both sides of the 3D camera 12. Each robot arm is provided with a laser tracker and a welding gun.
[0025] 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 commercial vehicle floor robot welding system, characterized in that: The invention comprises a host computer (1), a robot platform (2) and a tooling platform (3), wherein the robot platform (2) and the tooling platform (3) are arranged in parallel, a conveying roller (4) is arranged on the tooling platform (3), a mounting frame (6) is slidably mounted on the robot platform (2), a robot arm (7) and a support frame (10) are arranged on the mounting frame (6), a laser tracker (8) and a welding gun (9) are mounted on the free end of the robot arm (7), a 3D camera (12) is mounted on the support frame (10), the laser tracker (8), the welding gun (9) and the 3D camera (12) are all located above the tooling platform (3), and the host computer (1) is electrically connected to the laser tracker (8), the welding gun (9), the 3D camera (12) and the robot arm (7) respectively.
2. The commercial vehicle floor robot welding system according to claim 1, characterized in that: The mounting frame (6) is provided with a driving motor (13), the driving motor (13) is connected to a driving gear, and the robot platform (2) is provided with a rack, the driving gear is meshed with the rack.
3. The commercial vehicle floor robot welding system according to claim 1, characterized in that: The bottom of the support frame (10) is provided with a slide groove, a positioning member (11) is slidably installed in the slide groove, a screw hole is opened on the positioning member (11), a set screw is installed in the screw hole, and the 3D camera (12) is installed on the positioning member (11).
4. The commercial vehicle floor robot welding system according to claim 1, characterized in that: The tooling platform (3) is provided with a plurality of positioning blocks (5), and the positioning blocks (5) are in contact with at least two side surfaces of the workpiece (14).
5. The commercial vehicle floor robot welding system according to any one of claims 1 to 4, characterized in that: The robot arms (7) are provided with two, and the two robot arms (7) are symmetrically arranged on both sides of the 3D camera (12).