Electric resistance welding device

Abstract

An electric resistance welding device comprises a mechanical arm, an installation base plate is installed on the mechanical arm, the mechanical arm is perpendicular to the installation base plate, a precise electric welding device is arranged on the installation base plate, a workbench is arranged below the precise electric welding device, a welding material is arranged on the workbench, the welding material right faces the precise electric welding device, and the workbench is parallel to the mechanical arm. The precise electric welding device is mounted on the mechanical arm, can realize six-degree-of-freedom movement, and is easy to disassemble and assemble, so that the convenience of daily maintenance is increased; the welding positive electrode and the welding negative electrode in the precise electric welding device are made of tungsten-inlaid copper alloy materials, the resistance of the electrodes is reduced, the strength of the electrodes is improved, and the welding effect is ensured.

Description

Technical Field

[0001] The utility model relates to the field of welding devices, in particular to a resistance welding device with visual guidance. Background Art

[0002] With the development and progress of society, intelligent cars with AI assisted driving are becoming more and more popular. In intelligent cars, the electric steering assembly is one of the core components, and the motor is a key component of the electric steering assembly. In order to ensure the life and stability of the entire steering control system, the assembly process of each motor must be precise and stable. In the connection and assembly process between the motor and the control board, and the control board and the power board, how to connect the connection points together with high strength has become a crucial process requirement. Resistance welding is a common method in the process of connecting metal PIN pins. However, because the welding process is an irreversible process, and the quality of welding cannot be judged from factors such as appearance, if the welding quality needs to be determined, only destructive pull-out force tests can be performed. The existing process means is to control the current, voltage, time, displacement and other parameters of the resistance welding machine during the welding process to ensure the quality of welding.

[0003] However, in the actual process, it is difficult to 100% guarantee the quality of welding by only controlling the above parameters. In the welding process, the matching dimensions (gap, angle, etc.) of the PIN pins of the raw materials also have a great influence on the welding quality. Therefore, more and more attention is paid to the matching dimensions of the welding of raw materials during the welding process. How to measure the matching dimensions of the raw materials and guide the welding angle and distance based on the results of the matching dimensions is the future development direction of optimizing the resistance welding process. Utility Model Content

[0004] In order to solve the problems mentioned in the above background, the utility model provides a resistance welding device, which can improve the effect and quality of resistance welding between materials.

[0005] The technical solution of the utility model is as follows: a resistance welding device, including a mechanical arm, a mounting base plate is mounted on the mechanical arm, the mechanical arm and the mounting base plate are perpendicular, a precision welding device is arranged on the mounting base plate, a workbench is arranged below the precision welding device, welding materials are arranged on the workbench, the welding materials are facing the precision welding device, and the workbench and the mechanical arm are parallel. The mechanical arm is mounted on a six-axis robot, can realize 6 degrees of freedom movement, and is easy to disassemble and assemble, which increases the convenience of daily maintenance.

[0006] Preferably, a camera mounting column is provided on the side of the welding material, a visual processor is provided on the workbench, and a line is provided between the visual processor and the camera mounting column. During welding, the robot arm carrying the precision welding device is guided to a reasonable position to perform welding according to the calculation result of the visual processor and the preset equipment.

[0007] Preferably, a visual camera is provided on one side of the camera mounting column near the top, a visual light source is provided below the visual camera, the visual camera and the visual light source are in the same straight line, and the visual camera is perpendicular to the workbench. The visual camera performs CCD photography sampling on the welding material and sends the sampling information to the visual processor.

[0008] Preferably, a first linear slide is provided on the mounting base plate, a first cylinder is provided on the side of the first linear slide, a second linear slide mounting plate is installed above the first linear slide, a second linear slide is provided on the second linear slide mounting plate, and a welding mounting plate is installed above the second linear slide.

[0009] Preferably, the first linear slide rail is parallel to the mounting base plate, the first linear slide rail is parallel to the second linear slide rail, the first cylinder is parallel to the first linear slide rail, a precision welding device is provided on the welding mounting plate, a second cylinder is provided on the side of the precision welding device, and the second cylinder is parallel to the first cylinder.

[0010] Preferably, the precision electric welding device comprises a welding displacement sensor and a welding pressure sensor, which are parallel to each other. The welding displacement sensor and the welding pressure sensor will sample the entire process and output the current displacement value and pressure value in real time.

[0011] Preferably, the precision welding device further comprises welding positive and negative electrodes, the welding positive and negative electrodes are made of copper inlaid with tungsten, and the precision welding device is parallel to the mounting substrate. The copper inlaid with tungsten alloy material reduces the resistance of the electrode, increases the strength of the electrode, and ensures the welding effect.

[0012] Preferably, a first cylinder mounting plate is provided on the mounting base plate, the height of the first cylinder mounting plate is the same as the height of the first linear slide rail, and the first cylinder is mounted on the first cylinder mounting plate.

[0013] The beneficial effect of the utility model is to improve the effect and quality of resistance welding between materials. The precision welding device is installed on the robot arm, which can realize 6 degrees of freedom of movement and is easy to disassemble and assemble, which increases the convenience of daily maintenance. The positive and negative electrodes in the precision welding device are made of copper-inlaid tungsten alloy, which reduces the resistance of the electrode, increases the strength of the electrode, and ensures the welding effect. When welding, the device will guide the robot arm carrying the precision welding device to a reasonable position to perform welding according to the calculation results of the visual processor and the equipment pre-settings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments or background technologies of the present invention, the drawings required for use in the embodiments or background technology descriptions are briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention, and ordinary technicians in this field can obtain other drawings based on the provided drawings without paying any creative work.

[0015] Figure 1 It is a structural schematic diagram of the precision electric welding device of the utility model.

[0016] Figure 2 It is a side view schematic diagram of the utility model.

[0017] Figure 3 It is a top view schematic diagram of the utility model.

[0018] Figure 4 It is a front view schematic diagram of the precision electric welding device of the utility model.

[0019] In the figure: 1. Robotic arm, 2. Mounting base plate, 3. Precision electric welding device, 4. Workbench, 5. Welding material, 6. Camera mounting column, 7. Vision processor, 8. Vision camera, 9. Vision light source, 10. Second linear slide mounting plate, 11. First linear slide, 12. Second linear slide, 13. First cylinder, 14. Second cylinder, 15. Welding mounting plate, 16. Welding displacement sensor, 17. Welding pressure sensor, 18. Welding positive and negative electrodes, 19. First cylinder mounting plate. DETAILED DESCRIPTION

[0020] Embodiment 1,

[0021] Depend on Figures 1 to 4 It can be seen that the utility model provides a resistance welding device, including a mechanical arm 1. In this embodiment of the utility model, the mechanical arm 1 adopts a six-axis robot. Figure 3 The front end of the mechanical arm 1 is provided with a mounting base plate 2. Figure 3 The center is perpendicular to the robot arm 1, and a precision welding device 3 is installed on the mounting base plate 2. Figure 1 As shown, a first linear guide rail 11 is disposed on the mounting base plate 2, and a first cylinder mounting plate 19 is disposed on the side of the first linear guide rail 11. Figure 1 Specifically, a first cylinder mounting plate 19 is arranged on the left side of the first linear slide 11, and a second linear slide mounting plate 10 is arranged above the first linear slide 11 for the purpose of facilitating the installation of the second linear slide 12. In this embodiment of the utility model, the first cylinder mounting plate 19 and the first linear slide 11 are at the same height. Figure 1 The first cylinder mounting plate 19 shown is equipped with the first cylinder 13, and in particular, the end of the piston rod of the first cylinder 13 is arranged on an independent plate, which is called a piston rod fixing plate in this example of the utility model. The plate is arranged on the second linear slide rail mounting plate 10, and in this embodiment of the utility model, it is on the left side of the second linear slide rail 12, that is, the left side of the second linear slide rail mounting plate 10, and its side edge is flush with the mounting base plate 2 and does not exceed the range of the side of the mounting base plate 2.

[0022] In addition, the diameter of the first cylinder 13 itself is close to the height of the second linear slide 12, which is specifically manifested in that the first cylinder 13 is approximately flush with the welding mounting plate 15. A second linear slide mounting plate 10 is installed above the first linear slide 11, and a second linear slide 12 is provided above the second linear slide mounting plate 10. A welding mounting plate 15 is provided above the second linear slide 12, and some measuring equipment in the precision welding device 3 is mainly installed on the welding mounting plate 15. It should be specially explained that the precision welding device 3 referred to in the utility model refers to the mounting substrate 2 and all devices and equipment on the mounting substrate 2, including the second linear slide mounting plate 10, the first linear slide 11, the second linear slide 12, the first cylinder 13, the second cylinder 14, the welding mounting plate 15, the first cylinder mounting plate 19 and some measuring equipment such as the welding displacement sensor 16, the welding pressure sensor 17, and the welding positive and negative electrodes 18. Therefore Figure 1 It is a structural schematic diagram of the precision welding device 3 of the utility model. Figure 2 and Figure 3 What is more reflected is the positional relationship between the precision welding device 3, the robot arm 1 and the workbench 4.

[0023] Specifically, Figure 2For example, the precision welding device 3 is connected to the robot arm through the mounting base plate 2, which is perpendicular to the robot arm 1. In order to perform welding work, the welding positive and negative electrodes 18 on the precision welding device 3 are parallel to the camera mounting column 6 on the workbench 4. In fact, with the development and progress of society, intelligent cars with AI assisted driving are becoming more and more popular. In intelligent cars, the electric steering assembly is one of the core components, and the motor is a key component of the electric steering assembly. In order to ensure the life and stability of the entire steering control system, the assembly process of each motor must be precise and stable. In the connection and assembly process of the motor and the control board, and the control board and the power board, how to connect the connection points together with high strength has become a crucial process requirement. Furthermore, the first linear slide 11, the second linear slide 12, the first cylinder 13, and the second cylinder 14 are all parallel to the camera mounting column 6. Figure 2 It is specifically described as the first linear slide 11, the second linear slide 12, the first cylinder 13, the second cylinder 14 and the camera mounting column 6 are in the vertical direction, that is, perpendicular to the workbench 4. The workbench 4 and the robot arm 1 are parallel in the horizontal direction.

[0024] In this embodiment of the utility model, as Figure 1 The welding displacement sensor 16 is mounted on the front side. Figure 4 Auxiliary observation shows that Figure 1 The welding pressure sensor 17 is at the rear side, and the welding positive and negative electrodes 18 are at the right side. Specifically, the setting direction of the welding positive and negative electrodes 18 is perpendicular to the setting direction of the welding displacement sensor 16. Figure 4 Auxiliary observation shows that the setting direction of the welding pressure sensor 17 is parallel to the setting direction of the welding displacement sensor 16. As for the first linear guide rail 11 provided on the mounting substrate 2, its setting direction is perpendicular to the setting direction of the welding displacement sensor 16, which means that the setting direction of the second linear guide rail 12 is perpendicular to the setting direction of the welding displacement sensor 16, because the setting direction of the first linear guide rail 11 is parallel to the setting direction of the second linear guide rail 12. The difference is that in this embodiment of the utility model, the first linear guide rail 11 is provided with three guide rails to support the second linear guide rail mounting plate 10, while the second linear guide rail 12 is provided with only two guide rails to support the welding mounting plate 15.

[0025] In addition, it should be noted that the first cylinder 13 and the second cylinder 14 are arranged in parallel directions, that is, the arrangement direction of the first cylinder 13 is perpendicular to the arrangement direction of the welding displacement sensor 16, because the first cylinder 13 is arranged on the first cylinder mounting plate 19, and the second cylinder 14 is arranged on the welding mounting plate 15, and the first cylinder mounting plate 19 is arranged on the mounting substrate 2, and the arrangement direction of the mounting substrate 2 is parallel to the arrangement direction of the welding mounting plate 15. In particular, in this embodiment of the utility model, the first cylinder mounting plate 19 is arranged on the left side of the mounting substrate 2 and the second cylinder 14 is also arranged on the left side of the welding mounting plate 15, so it can be known that the first cylinder 13 and the second cylinder 14 are on the same side, specifically the left side in this embodiment of the utility model.

[0026] In addition, because the welding positive and negative electrodes 18 are perpendicular to the setting direction of the welding displacement sensor 16, and the setting direction of the welding displacement sensor 16 is perpendicular to the mounting substrate 2, it can be known that the welding positive and negative electrodes 18 are parallel to the mounting substrate 2. Figure 2 It can be seen that when the mounting substrate 2 and the robot arm 1 are perpendicular, the welding positive and negative electrodes 18 are also perpendicular to the robot arm 1. Figure 2 Specifically, the mounting substrate 2 is arranged in a vertical direction. Because the precision electric welding device 3 on the mounting substrate 2 is essentially to perform welding operations on the welding material 5 on the workbench 4, in order to improve the accuracy of welding, the present embodiment of the utility model particularly arranges a camera mounting column 6 on the workbench 4, and the camera mounting column 6 is vertically placed parallel to the mounting substrate 2. A visual processor 7 is arranged on the side of the camera mounting column 6, and a visual camera 8 is arranged on one side of the top of the camera mounting column 6. In the present embodiment of the utility model, the visual camera 8 is also arranged vertically downward, that is, the lens of the visual camera 8 faces downward, and a visual light source 9 is arranged below the lens of the visual camera 8 for fill light, and the welding material 5 to be welded is directly below the visual light source 9.

[0027] That is to say, the welding material 5 is directly below the visual camera 8, and in order to perform welding better, it is necessary to weld the welding material 5 while ensuring the range of motion of the robot arm 1 in six degrees of freedom. Figure 3 It is not only the top view of the device described in the utility model that represents you, but also a certain welding process in the welding process. In order to better transmit the data captured by the visual camera 8 to the visual processor 7, the visual processor 7 and the camera mounting column 6 are provided with a line connection. Figure 4 It more clearly shows the structure of the welding positive and negative electrodes 18 and the positional relationship between the welding displacement sensor 16 and the welding pressure sensor 17.

[0028] Embodiment 2,

[0029] The utility model is composed of three parts, a mechanical arm 1, a precision welding device 3 and a visual part, wherein the visual part includes a visual camera 8 and a visual light source 9 on a camera mounting column 6 and a visual processor 7 on a workbench 4. The utility model installs the precision welding device 3 on the mechanical arm 1 of the six-axis robot, which can realize the movement of six degrees of freedom and is easy to disassemble and assemble, thereby increasing the convenience of daily maintenance; the welding positive and negative electrodes 18 in the precision welding device 3 of the utility model are made of copper-inlaid tungsten alloy, which reduces the resistance of the electrode, increases the strength of the electrode, and ensures the welding effect; it should be particularly noted that the three major components of the utility model, the mechanical arm 1, the precision welding device 3 and the visual part can be configured according to the material of the welding material 5; the utility model uses the visual part to perform CCD sampling on the welding size between the welding materials 5, and calculates the gap, angle and other dimensions. When welding, the utility model will pre-set the device according to the calculation results of the visual processor 7 and guide the mechanical arm 1 of the six-axis robot to carry the precision welding device 3 to a reasonable position to perform welding.

[0030] In addition, the precision welding device 3 mentioned in the utility model includes a welding displacement sensor 16 and a welding pressure sensor 17, which records the displacement and pressure of the precision welding device 3 in real time during the entire welding process; in this embodiment of the utility model, for ease of understanding, the power source used in the utility model is electricity, and all joints of the six-axis robot are built-in with origin and limit sensors, and built-in emergency stop, overload protection and misoperation protection to ensure the safety of operators and materials during operation. The utility model is universal in principle, adopts CCD sampling to calculate the size, and guides the principle of the mechanical arm 1 to cooperate with the action, and can be customized according to different welding requirements. Resistance welding is a common means in the process of metal PIN foot connection. However, because the welding process is an irreversible process, and it is impossible to judge the quality of welding from factors such as appearance, if it is necessary to judge the quality of welding, only a destructive pull-out force test can be performed. The existing process means is to control the current, voltage, time, displacement and other parameters of the resistance welding machine during the welding process to ensure the quality of welding. However, in the actual process, it is difficult to 100% guarantee the quality of welding by only controlling the above parameters. During the welding process, the matching dimensions (gap, angle, etc.) of the PIN pins of the raw materials also have a great influence on the welding quality. Therefore, more and more attention has been paid to the matching dimensions of the welding of raw materials during the welding process. How to measure the matching dimensions of the raw materials and guide the welding angle and distance according to the results of the matching dimensions is the future development direction of optimizing the resistance welding process. The utility model improves the effect and quality of resistance welding between materials by providing a precision resistance welding device with visual guidance. For the convenience of explanation, this embodiment will provide a feasible combination, in which part of the mechanical arm 1 adopts a six-axis robot, and the visual camera 8, the visual light source 9, and the visual processor 7 adopt an industrial camera set, which is matched with the visual software, has a 5 million imaging effect, and the minimum accuracy reaches 3.45μm*3.45μm.

[0031] Embodiment 3,

[0032] The workflow of the utility model can be roughly explained as follows: in the first step, the welding material 5 is moved to the bottom of the visual camera 8, and the visual light source 9 turns on the light source; in the second step, the visual camera 8 performs CCD photography sampling on the welding material 5, and sends the sampling information to the visual processor 7; in the third step, the visual processor 7 calculates the spacing, angle and other parameters between the welding materials according to the sampled image, and makes a judgment according to the preset standard; in the fourth step, if the parameter exceeds the guide setting standard, the visual processor 7 will alarm, prompting that the welding material 5 exceeds the standard and requesting replacement; in the fifth step, if the parameter is within the guide setting standard, the visual processor 7 will send the guided welding coordinates and other information to the six-axis robot, wherein the six-axis robot will be equipped with a mechanical arm 1 and a precision welding device 3 installed on the mechanical arm 1 through the mounting substrate 2; in the sixth step, after the six-axis robot obtains the guidance data, it will carry the precision welding device 3, enter the welding area and perform the welding action; in the seventh step, during the welding action, the welding displacement sensor 16 and the welding pressure sensor 17 will sample the entire process and output the current displacement value and pressure value in real time; in the eighth step, after the welding action is completed, the six-axis robot will carry the precision welding device 3 back to the waiting area.

Claims

1. A resistance welding device, characterized in that: It includes a robotic arm, on which a mounting substrate is mounted, the robotic arm and the mounting substrate are perpendicular to each other, a precision welding device is arranged on the mounting substrate, a workbench is arranged below the precision welding device, welding materials are arranged on the workbench, the welding materials are facing the precision welding device, the workbench and the robotic arm are parallel, the precision welding device includes positive and negative welding electrodes, the positive and negative welding electrodes are made of copper inlaid with tungsten, a camera mounting column is arranged on the side of the welding material, a visual processor is arranged on the workbench, a line connection is arranged between the visual processor and the camera mounting column, and a visual camera is arranged on the side of the camera mounting column near the top.

2. A resistance welding device according to claim 1, characterized in that: A visual light source is provided below the visual camera, the visual camera and the visual light source are in the same straight line, and the visual camera and the workbench are perpendicular to each other.

3. A resistance welding device according to claim 1, characterized in that: A first linear slide is disposed on the mounting base plate, a first cylinder is disposed on the side of the first linear slide, a second linear slide mounting plate is mounted above the first linear slide, a second linear slide is disposed on the second linear slide mounting plate, and a welding mounting plate is mounted above the second linear slide.

4. A resistance welding device according to claim 3, characterized in that: The first linear slide is parallel to the mounting base plate, the first linear slide is parallel to the second linear slide, the first cylinder is parallel to the first linear slide, a precision welding device is provided on the welding mounting plate, a second cylinder is provided on the side of the precision welding device, and the second cylinder is parallel to the first cylinder.

5. A resistance welding device according to claim 1 or 4, characterized in that: The precision electric welding device comprises a welding displacement sensor and a welding pressure sensor, and the welding displacement sensor and the welding pressure sensor are parallel.

6. A resistance welding device according to claim 1 or 4, characterized in that: The precision electric welding device is parallel to the mounting substrate.

7. A resistance welding device according to claim 3, characterized in that: A first cylinder mounting plate is provided on the mounting base plate. The height of the first cylinder mounting plate is the same as that of the first linear slide rail. The first cylinder is mounted on the first cylinder mounting plate.

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