Track type laser welding equipment of robot
By designing laser transparent plates and electric slide rail systems in robot track laser welding equipment, the CCD visual detection device is protected from laser damage, solving the problems of easy equipment and unstable weld tracking, and achieving efficient welding process .
Patent Information
- Application Number
- CN202323550853.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-26
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2033-12-26
AI Technical Summary
During welding, existing robotic track laser welding equipment, optical sensors or visual detection equipment are easily illuminated by the laser welding head, resulting in damage, and the equipment angle needs to be adjusted at all times to achieve weld tracking.
A robot track laser welding device including a laser-proof transparent plate, a fixed column, an electric slide rail, a CCD visual detection device and a control terminal is designed. The CCD visual detection device is driven to move to the weld through the electric slide rail and through the control The terminal displays the weld trajectory, causing the six-axis robot module to move along the weld trajectory, and at the same time, the laser transparent plate prevents laser protection from the CCD visual detection device.
It realizes the protection of CCD visual detection device from laser damage during welding, while ensuring the accuracy and stability of weld tracking, avoiding the risk of weld offset.
Smart Images
Figure CN222448793U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of laser welding, in particular to a robot track type laser welding device. Background Art
[0002] The robot's track laser welding equipment is an automated welding equipment, mainly composed of a 100W fiber-coupled output semiconductor laser, a special laser welding head, and a six-axis robot module. The equipment adopts a fully enclosed laser radiation protection and mechanical, electrical, and gas integrated design that meets international standards, and has continuous track teaching and remote control functions. An optical sensor is installed in front of the welding position to collect data, which is then transmitted to the welding robot, and various adaptive fuzzy control algorithms are used to correct the trajectory of the welding robot or special machine, realizing adaptive control and achieving real-time weld tracking.
[0003] The existing robot track laser welding equipment needs to install an optical sensor or other visual detection equipment to illuminate the weld position during welding, so that the six-axis robot module can realize weld tracking. However, general optical sensors or other visual detection equipment will be installed on the six-axis robot module or somewhere on the welding table. Since the former will move with the six-axis robot module, it is necessary to adjust the angle of the optical sensor or other visual detection equipment at all times. Although the latter can adjust the angle in advance and fix the angle during welding, it is easily irradiated by the laser welding head during welding, causing damage, so it needs to be improved. Utility Model Content
[0004] Technical issues solved
[0005] The purpose of the utility model is to make up for the deficiencies of the prior art and to provide a robot track type laser welding device.
[0006] Technical Solution
[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot track laser welding device, comprising a welding table, a welding assembly is arranged on the top surface of the welding table, horizontal fixing assemblies are arranged at both ends of the top surface of the welding table, a following assembly is arranged on the top surface of the welding table, vertical fixing assemblies are arranged at both ends of the top surface of the welding table, and a laser protection assembly is arranged on the top surface of the welding table;
[0008] The welding assembly includes a six-axis robot module and a laser welding head. The base of the six-axis robot module is fixedly installed on one end of the top surface of the welding table, and one end of the six-axis robot module is fixedly connected to the laser welding head.
[0009] As mentioned above, the laser protection component includes an anti-laser transparent plate and a fixed column. The four ends of the bottom surface of the anti-laser transparent plate are respectively fixedly installed with fixed columns. The bottom surface of the fixed column is fixedly connected to the top surface of the welding table. A cleaning component is arranged on the front side of the anti-laser transparent plate.
[0010] As mentioned above, the following component includes an electric slide rail 1, an electric slide rail 2, a CCD visual detection device and a control terminal. The electric slide rail 1 is fixedly installed on the top surface of the welding table, the electric slide rail 2 is fixedly installed on the top surface of the movable block of the electric slide rail 1, the electric slide rail 1 and the electric slide rail 2 are perpendicular to each other, the CCD visual detection device is fixedly installed on the top surface of the movable block of the electric slide rail 2, the control terminal is fixedly installed on one end of the top surface of the welding table, and the control terminal is electrically connected to the CCD visual detection device.
[0011] As mentioned above, the cleaning assembly includes a guide rail, a slider, a mounting seat and a cleaning brush, the guide rail is fixedly mounted on the front side of the anti-laser transparent plate, the slider is movably connected to the rail of the guide rail, the top and bottom surfaces of the slider are fixedly mounted with mounting seats, the mounting seat is a T-shaped seat, the top and bottom surfaces of the mounting seat are fixedly mounted with connecting shafts, and the arcuate surface of the connecting shaft is sleeved with a sleeve, the arcuate surface of the sleeve is fixedly mounted with a cleaning brush, and the cleaning portion of the cleaning brush is in contact with the surface of the anti-laser transparent plate.
[0012] As mentioned above, the horizontal fixing assembly includes a mounting plate, an electric push rod and a clamping plate. The mounting plates are fixedly installed at both ends of the top surface of the welding table. A mounting opening is penetrated through the side of the mounting plate, and an electric push rod is fixedly installed on the inner wall of the mounting opening. The clamping plate is fixedly installed at one end of the electric push rod.
[0013] As mentioned above, the vertical fixing assembly includes a mounting frame, a cylinder and a support plate. The mounting frames are fixedly installed at both ends of the top surface of the welding table. An opening is penetrated through the top surface of the mounting frame, and a cylinder is fixedly installed on the outer edge of the opening. The movable end of the cylinder is fixedly installed with a support plate.
[0014] As mentioned above, the side surface of the clamping plate and the bottom surface of the abutment plate are both fixedly mounted with anti-skid pads.
[0015] Beneficial effects:
[0016] Compared with the prior art, this robot track laser welding equipment has the following
[0017] Beneficial effects:
[0018] 1. The utility model provides an anti-laser transparent plate, a fixed column, an electric slide rail 1, an electric slide rail 2, a CCD visual detection device, a control terminal, a guide rail, a slider, a mounting seat and a cleaning brush, so that the plate to be laser welded can be spliced on the top surface of the anti-laser transparent plate, and the CCD visual detection device is driven to move to the weld by the electric slide rail 1 and the electric slide rail 2. During welding, the screen of the CCD visual detection device is displayed by the control terminal and the six-axis robot module can be moved along the weld track, and the CCD visual detection device can remain stationary during welding. At the same time, the anti-laser transparent plate on the fixed column can perform laser protection on the CCD visual detection device to prevent the laser from damaging it. After welding, the two cleaning brushes on the mounting seat can be rotated to fit with the top and bottom surfaces of the anti-laser transparent plate, and the anti-laser transparent plate can be cleaned by moving the slider on the guide rail, thereby preventing impurities or dust from adhering to the anti-laser transparent plate and affecting the effect of the CCD visual detection device.
[0019] 2. The utility model provides a mounting plate, an electric push rod, a clamping plate, abutment plate, a mounting frame, a cylinder and an anti-skid pad, so that after the plates to be laser welded are spliced on the top surface of the anti-laser transparent plate, the electric push rod on the mounting plate can drive the clamping plate to clamp and fix the two ends of the spliced plates, and then the cylinder on the mounting frame can drive the butt plate to press the top surface of the spliced plates to fix them, so that the spliced plates can be fixed both horizontally and vertically, the weld is not easy to shift, and the provision of the anti-skid pad increases the fixing effect of the butt plate and the clamping plate.
[0020] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and will be apparent to those skilled in the art based on the following examination and study, or may be taught from the practice of the present invention to some extent. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;
[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the six-axis robot module of the utility model;
[0023] Figure 3 It is a front structural schematic diagram of the utility model;
[0024] Figure 4 For the utility model Figure 1 A is a schematic diagram of the partially enlarged structure of the middle part;
[0025] Figure 5 This is a schematic diagram of the three-dimensional structure of the mounting plate of the utility model;
[0026] Figure 6It is a schematic diagram of the three-dimensional structure of the mounting frame of the utility model.
[0027] In the figure: 1. Welding table; 2. Six-axis robot module; 3. Laser welding head; 4. Electric slide rail 1; 5. Electric slide rail 2; 6. CCD visual detection device; 7. Anti-laser transparent plate; 9. Mounting plate; 10. Electric push rod; 11. Clamp; 12. Mounting frame; 13. Cylinder; 14. Abutment plate; 15. Control terminal; 16. Cleaning brush; 17. Mounting seat; 18. Fixed column; 19. Guide rail; 20. Slider; 21. Anti-slip pad. DETAILED DESCRIPTION
[0028] 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 in 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.
[0029] like Figure 1-6 As shown, the utility model provides a technical solution: a robot track laser welding device, comprising a welding table 1, a welding assembly is arranged on the top surface of the welding table 1, horizontal fixing assemblies are arranged at both ends of the top surface of the welding table 1, a following assembly is arranged on the top surface of the welding table 1, vertical fixing assemblies are arranged at both ends of the top surface of the welding table 1, and a laser protection assembly is arranged on the top surface of the welding table 1;
[0030] The welding assembly includes a six-axis robot module 2 and a laser welding head 3. The base of the six-axis robot module 2 is fixedly installed on one end of the top surface of the welding table 1, and one end of the six-axis robot module 2 is fixedly connected to the laser welding head 3.
[0031] According to the overall structure of the device, the plates to be laser welded are spliced on the top surface of the anti-laser transparent plate 7, and the electric push rod 10 on the mounting plate 9 drives the clamping plate 11 to clamp and fix the two ends of the spliced plates, and then the cylinder 13 on the mounting frame 12 drives the abutment plate 14 to press the top surface of the spliced plates to fix them, so that the spliced plates can be fixed horizontally and vertically, and the weld is not easy to deviate, and then the CCD visual inspection device 6 is driven by the electric slide rail 1 4 and the electric slide rail 2 5 to move to the weld, and then the laser welding head 3 is driven by the six-axis robot module 2 to move to the welding position for welding. During welding, the control The terminal 15 displays the screen of the CCD visual detection device 6 and moves the six-axis robot module 2 along the weld trajectory. During welding, the CCD visual detection device 6 remains stationary. At the same time, the anti-laser transparent plate 7 on the fixed column 18 provides laser protection for the CCD visual detection device 6 to prevent it from being damaged by the laser. After welding and unloading, the two cleaning brushes 16 on the mounting seat 17 are rotated to fit the top and bottom surfaces of the anti-laser transparent plate 7, and the anti-laser transparent plate 7 is cleaned by moving the slider 20 on the guide rail 19, thereby preventing impurities or dust from adhering to the anti-laser transparent plate 7 and affecting the effect of the CCD visual detection device 6.
[0032] like Figure 3 As shown, the laser protection component includes an anti-laser transparent plate 7 and a fixed column 18. The four ends of the bottom surface of the anti-laser transparent plate 7 are respectively fixedly installed with fixed columns 18. The bottom surface of the fixed column 18 is fixedly connected to the top surface of the welding table 1. The front of the anti-laser transparent plate 7 is provided with a cleaning component. The following component includes an electric slide rail 1 4, an electric slide rail 2 5, a CCD visual detection device 6 and a control terminal 15. The electric slide rail 1 4 is fixedly installed on the top surface of the welding table 1. The top surface of the movable block of the electric slide rail 1 4 is fixedly installed with the electric slide rail 2 5. The electric slide rail 1 4 and the electric slide rail 2 5 are perpendicular to each other. The CCD visual detection device 6 is fixedly installed on the top surface of the movable block of the electric slide rail 2 5. The control terminal 15 is fixedly installed at one end of the top surface of the welding table 1. The control terminal 15 is electrically connected to the CCD visual detection device 6.
[0033] By setting up the anti-laser transparent plate 7, fixed column 18, electric slide rail 1 4, electric slide rail 2 5, CCD visual inspection device 6 and control terminal 15, the CCD visual inspection device 6 can be driven to move to the weld by the electric slide rail 1 4 and the electric slide rail 2 5. During welding, the image of the CCD visual inspection device 6 is displayed by the control terminal 15 and the six-axis robot module 2 is moved along the weld track. During welding, the CCD visual inspection device 6 remains stationary, and at the same time, the anti-laser transparent plate 7 on the fixed column 18 protects the CCD visual inspection device 6 from laser damage to prevent the laser from damaging it.
[0034] like Figure 4As shown, the cleaning assembly includes a guide rail 19, a slider 20, a mounting seat 17 and a cleaning brush 16. The guide rail 19 is fixedly mounted on the front side of the anti-laser transparent plate 7. The slider 20 is movably connected to the rail of the guide rail 19. The top and bottom surfaces of the slider 20 are fixedly mounted with mounting seats 17. The mounting seat 17 is a T-shaped seat. The top and bottom surfaces of the mounting seat 17 are fixedly mounted with connecting shafts, and the arc surface of the connecting shaft is sleeved with a sleeve. The arc surface of the sleeve is fixedly mounted with a cleaning brush 16, and the cleaning portion of the cleaning brush 16 is in contact with the surface of the anti-laser transparent plate 7.
[0035] By setting the guide rail 19, slider 20, mounting seat 17 and cleaning brush 16, after welding and unloading, the two cleaning brushes 16 on the mounting seat 17 are rotated to fit with the top and bottom surfaces of the anti-laser transparent plate 7, and the anti-laser transparent plate 7 is cleaned by moving the slider 20 on the guide rail 19, thereby preventing impurities or dust from adhering to the anti-laser transparent plate 7 and affecting the effect of the CCD visual detection device 6.
[0036] like Figure 5-6 As shown, the horizontal fixing assembly includes a mounting plate 9, an electric push rod 10 and a clamping plate 11, the mounting plates 9 are fixedly installed at both ends of the top surface of the welding table 1, a mounting opening is penetrated through the side of the mounting plate 9, and the electric push rod 10 is fixedly installed on the inner wall of the mounting opening, and the clamping plate 11 is fixedly installed at one end of the electric push rod 10, and the vertical fixing assembly includes a mounting frame 12, a cylinder 13 and abutment plate 14, the mounting frames 12 are fixedly installed at both ends of the top surface of the welding table 1, an opening is penetrated through the top surface of the mounting frame 12, and the cylinder 13 is fixedly installed on the outer edge of the opening, the movable end of the cylinder 13 is fixedly installed with the butt plate 14, and the side of the clamping plate 11 and the bottom surface of the butt plate 14 are fixedly installed with anti-slip pads 21.
[0037] By means of the arranged mounting plate 9, electric push rod 10, clamping plate 11, mounting frame 12, cylinder 13, abutment plate 14 and anti-slip pad 21, after the plates to be laser welded are spliced on the top surface of the anti-laser transparent plate 7, the electric push rod 10 on the mounting plate 9 drives the clamping plate 11 to clamp and fix the two ends of the spliced plates, and then the cylinder 13 on the mounting frame 12 drives the abutment plate 14 to press and fix the top surface of the spliced plates, so that the spliced plates can be fixed both horizontally and vertically, and the weld is not easily offset.
[0038] Working principle: the plates to be laser welded are spliced on the top surface of the anti-laser transparent plate 7, and the electric push rod 10 on the mounting plate 9 drives the clamping plate 11 to clamp the two ends of the spliced plates for fixing, and then the cylinder 13 on the mounting frame 12 drives the plate 14 to press the top surface of the spliced plates for fixing, and then the electric slide rail 1 4 and the electric slide rail 2 5 drive the CCD visual inspection device 6 to move to the weld, and then the six-axis robot module 2 drives the laser welding head 3 to move to the welding position for welding. During welding, the control terminal 15 displays the screen of the CCD visual inspection device 6 and moves the six-axis robot module 2 along the weld trajectory, and the CCD visual inspection device 6 remains stationary during welding, and the anti-laser transparent plate 7 on the fixed column 18 performs laser protection on the CCD visual inspection device 6. After welding and unloading, the two cleaning brushes 16 on the mounting seat 17 are rotated to fit the top and bottom surfaces of the anti-laser transparent plate 7, and the anti-laser transparent plate 7 is cleaned by the slider 20 on the moving guide rail 19.
[0039] It should be noted that, in this article, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected", and "connected" should be understood in a broad sense. For example, "installed" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "connected" can be a direct connection, an indirect connection through an intermediate medium, or a connection between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.
[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A robot track laser welding device, comprising a welding table (1), characterized in that: The top surface of the welding platform (1) is provided with a welding assembly, both ends of the top surface of the welding platform (1) are provided with horizontal fixing assemblies, the top surface of the welding platform (1) is provided with a following assembly, both ends of the top surface of the welding platform (1) are provided with vertical fixing assemblies, and the top surface of the welding platform (1) is provided with a laser protection assembly; The welding assembly comprises a six-axis robot module (2) and a laser welding head (3); the base of the six-axis robot module (2) is fixedly mounted on one end of the top surface of the welding table (1); and one end of the six-axis robot module (2) is fixedly connected to the laser welding head (3).
2. The robot track laser welding device according to claim 1, characterized in that: The laser protection component comprises a laser protection transparent plate (7) and a fixing column (18); the fixing columns (18) are respectively fixedly mounted at four ends of the bottom surface of the laser protection transparent plate (7); the bottom surface of the fixing column (18) is fixedly connected to the top surface of the welding table (1); and a cleaning component is arranged on the front surface of the laser protection transparent plate (7).
3. The robot track laser welding device according to claim 1, characterized in that: The following component comprises an electric slide rail 1 (4), an electric slide rail 2 (5), a CCD visual detection device (6) and a control terminal (15); the electric slide rail 1 (4) is fixedly mounted on the top surface of the welding table (1); the electric slide rail 2 (5) is fixedly mounted on the top surface of the movable block of the electric slide rail 1 (4); the electric slide rail 1 (4) and the electric slide rail 2 (5) are perpendicular to each other; the CCD visual detection device (6) is fixedly mounted on the top surface of the movable block of the electric slide rail 2 (5); the control terminal (15) is fixedly mounted on one end of the top surface of the welding table (1); and the control terminal (15) is electrically connected to the CCD visual detection device (6).
4. The robot track laser welding device according to claim 2, characterized in that: The cleaning assembly comprises a guide rail (19), a slider (20), a mounting seat (17) and a cleaning brush (16); the guide rail (19) is fixedly mounted on the front side of the anti-laser transparent plate (7); the slider (20) is movably connected to the rail of the guide rail (19); the mounting seat (17) is fixedly mounted on the top and bottom surfaces of the slider (20); the mounting seat (17) is a T-shaped seat; the top and bottom surfaces of the mounting seat (17) are fixedly mounted with a connecting shaft, and the arc surface of the connecting shaft is sleeved with a sleeve; the arc surface of the sleeve is fixedly mounted with a cleaning brush (16), and the cleaning portion of the cleaning brush (16) is in contact with the surface of the anti-laser transparent plate (7).
5. The robot track laser welding device according to claim 1, characterized in that: The horizontal fixing assembly comprises a mounting plate (9), an electric push rod (10) and a clamping plate (11); the mounting plates (9) are fixedly mounted on both ends of the top surface of the welding table (1); a mounting opening is provided through the side surface of the mounting plate (9); the electric push rod (10) is fixedly mounted on the inner wall of the mounting opening; and the clamping plate (11) is fixedly mounted on one end of the electric push rod (10).
6. The robot track laser welding device according to claim 1, characterized in that: The vertical fixing assembly comprises a mounting frame (12), a cylinder (13) and a stop plate (14); the mounting frames (12) are fixedly mounted on both ends of the top surface of the welding table (1); an opening is provided through the top surface of the mounting frame (12); the cylinder (13) is fixedly mounted on the outer edge of the opening; and the stop plate (14) is fixedly mounted on the movable end of the cylinder (13).
7. The robot track laser welding device according to claim 5, characterized in that: Anti-slip pads (21) are fixedly mounted on the side surfaces of the clamping plate (11) and the bottom surface of the abutment plate (14).