Gantry type 3D visual scanning double-head intelligent welding machine

Abstract

The utility model provides a gantry type 3D visual scanning double-head intelligent welding machine which comprises a main body lathe bed and a gantry welding machine, the gantry welding machine comprises a fixing frame, a 3D visual scanning mechanism, a welding machine body, a pressing mechanism and an industrial personal computer, a driving motor is installed on the fixing frame, the driving motor is used for driving the fixing frame to walk on the main body lathe bed, and the 3D visual scanning mechanism is used for driving the welding machine body to walk on the main body lathe bed. The 3D visual scanning mechanism is used for scanning a workpiece, the pressing mechanism is used for pressing the workpiece, the working range of the welding machine is located on the workpiece pressed by the pressing mechanism, the industrial personal computer is used for controlling the 3D visual scanning mechanism, the welding machine, the pressing mechanism and the driving motor to work, the 3D camera scanning and the industrial personal computer are combined to achieve the automatic typesetting welding process and double-head division welding, and the welding efficiency is high. And the equipment cost and the later maintenance cost are low, the requirement for the technical level of equipment operators is low, the welding efficiency is greatly improved, and meanwhile the problem of shortage of welding work type technicians can be solved.

Description

Technical Field

[0001] The utility model relates to the field of welding equipment, in particular to a gantry-type 3D visual scanning double-head intelligent welding machine. Background Art

[0002] Currently, most of the visual welding on the market is a six-axis robot plus camera scanning welding technology. The existing technology is mainly six-axis robot welding, which has high equipment cost and low welding efficiency. The later equipment repair and maintenance are also cumbersome, and the technical level of the operator is required to be high. In addition, welding operations are still performed manually in daily production processes. Welding workers are directly exposed to the smoke generated by welding and work for a long time, which can easily cause harm to the workers' bodies. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the above-mentioned traditional technology and provide a gantry-type 3D visual scanning double-head intelligent welding machine that can solve the above-mentioned problems.

[0004] The purpose of the utility model is achieved through the following technical measures: a gantry-type 3D visual scanning double-head intelligent welding machine, characterized in that: it includes a main bed and a gantry welding machine, a welding platform is installed on the main bed, the gantry welding machine is movably installed on the main bed, the gantry welding machine includes a fixed frame, a 3D visual scanning mechanism, a welding machine, a clamping mechanism and an industrial computer, a driving motor is installed on the fixed frame, the driving motor is used to drive the fixed frame to walk on the main bed, the 3D visual scanning mechanism, the welding machine and the clamping mechanism are all installed on the fixed frame, the clamping mechanism is used to clamp the workpiece, the working range of the welding machine is located on the workpiece clamped by the clamping mechanism, and the industrial computer is used to control the 3D visual scanning mechanism, the welding machine, the clamping mechanism and the driving motor to work.

[0005] As a preferred solution: the fixing frame includes a crossbeam and two longitudinal beams, the two longitudinal beams are fixedly mounted at both ends of the crossbeam, a driving motor is mounted on the longitudinal beam, and a track corresponding to the driving motor is mounted on the main bed.

[0006] As a preferred solution: the 3D vision scanning mechanism includes a mounting bracket and a camera box, the mounting bracket is fixedly mounted on the crossbeam, the camera box is fixedly mounted on the end of the mounting bracket away from the crossbeam, the camera box includes a shell and a protective cover, a 3D scanning camera is installed in the shell, a protective cover driving device is installed on the top of the shell, and the protective cover driving device is used to drive the protective cover to protect the 3D scanning camera.

[0007] As a preferred solution: the clamping mechanism includes a first clamping mechanism and a second clamping mechanism, the first clamping mechanism is installed at the bottom of the beam, the first clamping mechanism includes a first clamping drive device and a first pressure rod, the top of the first clamping drive device is fixedly connected to the beam, and the telescopic end of the first clamping drive device is fixedly connected to the first pressure rod.

[0008] As a preferred solution: the second clamping mechanism includes a connecting plate, a driving mounting seat, a second clamping driving device and a second pressure rod, the connecting plate is fixedly connected to the longitudinal beam, the driving mounting seat is fixedly installed at one end of the connecting plate away from the longitudinal beam, the second clamping driving device is fixedly installed on the driving mounting seat, and the second clamping driving device is used to drive the second pressure rod to move.

[0009] As a preferred solution: the welding machine includes a welding gun, a welding gun mounting seat and a welding gun movable seat, the welding gun is fixedly mounted on the welding gun mounting seat, the welding gun mounting seat is fixedly mounted on the welding gun movable seat, and the welding gun movable seat is movably mounted on the crossbeam.

[0010] As a preferred solution: the welding gun mounting seat includes a first connecting plate and a first transverse plate, the welding gun is fixedly mounted on the first connecting plate, a transverse travel motor is fixedly mounted on the first connecting plate, a travel track is fixedly mounted on the first transverse plate, and the corresponding arrangement of the transverse travel motor and the travel track can realize a small range of transverse movement of the welding gun.

[0011] As a preferred solution: the welding gun moving seat includes a longitudinal drive device and a second transverse drive device, the longitudinal drive device and the second transverse drive device are fixedly connected, the longitudinal drive device is used to drive the longitudinal movement of the welding gun mounting seat, and the second transverse drive device is used to drive the movement along the crossbeam.

[0012] As a preferred solution: the second transverse drive device includes a second transverse plate and a second transverse drive motor, the second transverse drive motor is fixedly mounted on the second transverse plate, the second transverse plate is movably connected to the crossbeam, and the second transverse drive motor drives the second transverse plate to move on the crossbeam.

[0013] As a preferred solution: the longitudinal drive device includes a longitudinal plate, a motor connecting plate, a longitudinal drive motor and a connecting block, the longitudinal plate is fixedly connected to the second transverse plate, the motor connecting plate is fixedly connected to the top of the longitudinal plate, the longitudinal drive motor is fixedly installed on the motor connecting plate, the connecting block is fixedly connected to the output end of the longitudinal drive motor, the longitudinal drive motor drives the connecting block seat to rise and fall, and the connecting block is fixedly connected to the first transverse plate.

[0014] Due to the adoption of the above technical solution, compared with the prior art, the advantages of the utility model are:

[0015] By combining 3D camera scanning with an industrial computer, automatic typesetting of welding processes and double-head division of labor welding can be realized. The welding efficiency is high, and the equipment cost and subsequent maintenance cost are low. The technical level requirements for equipment operators are low. The welding efficiency is greatly improved and the problem of shortage of welding technicians can be solved.

[0016] The utility model is further described below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attached Figure 1 It is a structural schematic diagram of the utility model gantry type 3D visual scanning double-head intelligent welding machine.

[0018] Attached Figure 2 It is a partial structural schematic diagram of the utility model.

[0019] Attached Figure 3 It is a partial structural schematic diagram of the gantry welding machine of the utility model.

[0020] Attached Figure 4 It is a front view of the gantry welding machine of the utility model.

[0021] Attached Figure 5 It is a schematic diagram of the 3D vision scanning mechanism of the utility model.

[0022] Attached Figure 6 Yes Figure 3 Enlarged view of point A in the figure.

[0023] Attached Figure 7 Yes Figure 3 Enlarged view of point B in the figure.

[0024] Attached Figure 8 The utility model is a schematic structural diagram of a welding gun, a welding gun mounting seat and a welding gun moving seat.

[0025] Attached Fig. 9 It is a structural schematic diagram of the longitudinal drive device and the second transverse drive device of the utility model. DETAILED DESCRIPTION

[0026] Example: As attached Figures 1 to 9As shown, a gantry-type 3D visual scanning double-head intelligent welding machine comprises a main body 1 and a gantry welding machine 2, wherein a welding platform 11 is installed on the main body 1, and the gantry welding machine 2 is movably installed on the main body 1, and the gantry welding machine 2 comprises a fixed frame 3, a 3D visual scanning mechanism 4, a welding machine 5, a clamping mechanism 6 and an industrial computer, and a driving motor 7 is installed on the fixed frame 3, and the driving motor 7 is used to drive the fixed frame 3 to walk on the main body 1, and the 3D visual scanning mechanism 4, the welding machine 5 and the clamping mechanism 6 are all installed on the fixed frame 3, and the clamping mechanism 6 is used to clamp the workpiece, and the working range of the welding machine 5 is located on the workpiece clamped by the clamping mechanism 6, and the industrial computer is used to control the 3D visual scanning mechanism 4, the welding machine 5, the clamping mechanism 6 and the driving motor 7 to work, and two welding machines 5 are provided, and the two welding machines 5 can work simultaneously or separately as needed.

[0027] The fixing frame 3 includes a cross beam 31 and two longitudinal beams 32 . The two longitudinal beams 32 are fixedly mounted at both ends of the cross beam 31 , respectively. A driving motor 7 is mounted on the longitudinal beam 32 . A track corresponding to the driving motor 7 is mounted on the main bed 1 .

[0028] The 3D vision scanning mechanism 4 includes a mounting bracket 41 and a camera box 42. The mounting bracket 41 is fixedly mounted on the beam 31. The camera box 42 is fixedly mounted on one end of the mounting bracket 41 away from the beam 31. The camera box 42 includes a shell 421 and a protective cover 422. A 3D scanning camera is installed in the shell 421. A protective cover driving device 423 is installed on the top of the shell 421. The protective cover driving device 423 is used to drive the protective cover 422 to protect the 3D scanning camera. The 3D scanning camera is used in conjunction with an industrial computer. The industrial computer realizes automatic typesetting and automatic welding command output through camera scanning.

[0029] The clamping mechanism 6 includes a first clamping mechanism 61 and a second clamping mechanism 62. The first clamping mechanism 61 is installed at the bottom of the beam 31. The first clamping mechanism 61 includes a first clamping drive device 611 and a first pressure rod 612. The top of the first clamping drive device 611 is fixedly connected to the beam 31, and the telescopic end of the first clamping drive device 611 is fixedly connected to the first pressure rod 612.

[0030] The second clamping mechanism 62 includes a connecting plate 621, a driving mounting seat 622, a second clamping driving device 623 and a second pressure rod 624. The connecting plate 621 is fixedly connected to the longitudinal beam 32. The driving mounting seat 622 is fixedly installed on an end of the connecting plate 621 away from the longitudinal beam 32. The second clamping driving device 623 is fixedly installed on the driving mounting seat 622. The second clamping driving device 623 is used to drive the second pressure rod 624 to move.

[0031] The welding machine 5 includes a welding gun 51, a welding gun mounting seat 52 and a welding gun movable seat 53. The welding gun 51 is fixedly mounted on the welding gun mounting seat 52, the welding gun mounting seat 52 is fixedly mounted on the welding gun movable seat 53, and the welding gun movable seat 53 is movably mounted on the crossbeam 31. The welding gun 51 in this application refers to a carbon dioxide gas shielded welding machine, which belongs to the prior art, and its working principle and structure are not repeated here.

[0032] The welding gun mounting seat 52 includes a first connecting plate 521 and a first transverse plate 522. The welding gun 51 is fixedly mounted on the first connecting plate 521. A transverse travel motor 5211 is fixedly mounted on the first connecting plate 521. A travel track 5221 is fixedly mounted on the first transverse plate 522. The corresponding arrangement of the transverse travel motor 5211 and the travel track 5221 can realize a small range of transverse movement of the welding gun 51.

[0033] The welding gun movable seat 53 includes a longitudinal drive device 531 and a second transverse drive device 532, and the longitudinal drive device 531 and the second transverse drive device 532 are fixedly connected. The longitudinal drive device 531 is used to drive the welding gun mounting seat 52 to move longitudinally, and the second transverse drive device 532 is used to drive movement along the beam 31.

[0034] The second transverse driving device 532 includes a second transverse plate 5321 and a second transverse driving motor 5322 . The second transverse driving motor 5322 is fixedly mounted on the second transverse plate 5321 . The second transverse plate 5321 is movably connected to the crossbeam 31 . The second transverse driving motor 5322 drives the second transverse plate 5321 to move on the crossbeam 31 .

[0035] The longitudinal drive device 531 includes a longitudinal plate 5311, a motor connecting plate 5312, a longitudinal drive motor 5313 and a connecting block 5314. The longitudinal plate 5311 is fixedly connected to the second transverse plate 5321. The motor connecting plate 5312 is fixedly connected to the top of the longitudinal plate 5311. The longitudinal drive motor 5313 is fixedly installed on the motor connecting plate 5312. The connecting block 5314 is fixedly connected to the output end of the longitudinal drive motor 5313. The longitudinal drive motor 5313 drives the connecting block 5314 to rise and fall. The connecting block 5314 is fixedly connected to the first transverse plate 522.

[0036] The workflow of this application is that first, the product to be processed is placed on the welding platform through a crane or other mechanism, the operator starts the machine, and then the operator holds the wireless remote control and presses the start button, and the entire machine automatically returns to the origin. After returning to the origin, the equipment automatically starts visual intervention scanning. After the scanning is completed, it starts automatic typesetting and automatically calls up the welding process to start welding. After all welding is completed, the operator can remove the finished workpiece and enter the next cycle operation.

Claims

1. Gantry type 3D vision scanning double-head intelligent welding machine, characterized by: The invention comprises a main body bed (1) and a gantry welding machine (2), wherein a welding platform (11) is installed on the main body bed (1), and the gantry welding machine (2) is movably installed on the main body bed (1). The gantry welding machine (2) comprises a fixed frame (3), a 3D visual scanning mechanism (4), a welding machine (5), a clamping mechanism (6) and an industrial computer. A driving motor (7) is installed on the fixed frame (3), and the driving motor (7) is used to drive the fixed frame (3) to move on the main body bed (1). The 3D visual scanning mechanism (4), the welding machine (5) and the clamping mechanism (6) are all installed on the fixed frame (3), and the clamping mechanism (6) is used to clamp a workpiece. The working range of the welding machine (5) is located on the workpiece clamped by the clamping mechanism (6). The industrial computer is used to control the operation of the 3D visual scanning mechanism (4), the welding machine (5), the clamping mechanism (6) and the driving motor (7). Two welding machines (5) are provided.

2. The gantry type 3D visual scanning double-head intelligent welding machine according to claim 1 is characterized in that: The fixed frame (3) comprises a crossbeam (31) and two longitudinal beams (32), the two longitudinal beams (32) being fixedly mounted at both ends of the crossbeam (31), respectively, a drive motor (7) being mounted on the longitudinal beam (32), and a track corresponding to the drive motor (7) being mounted on the main bed (1).

3. The gantry type 3D vision scanning double-head intelligent welding machine according to claim 2 is characterized in that: The 3D visual scanning mechanism (4) comprises a mounting bracket (41) and a camera box (42), wherein the mounting bracket (41) is fixedly mounted on the crossbeam (31), and the camera box (42) is fixedly mounted on an end of the mounting bracket (41) away from the crossbeam (31), and the camera box (42) comprises a shell (421) and a protective cover (422), wherein a 3D scanning camera is mounted in the shell (421), and a protective cover driving device (423) is mounted on the top of the shell (421), and the protective cover driving device (423) is used to drive the protective cover (422) to protect the 3D scanning camera.

4. The gantry type 3D visual scanning double-head intelligent welding machine according to claim 2 is characterized in that: The clamping mechanism (6) comprises a first clamping mechanism (61) and a second clamping mechanism (62), wherein the first clamping mechanism (61) is installed at the bottom of the crossbeam (31), and the first clamping mechanism (61) comprises a first clamping drive device (611) and a first pressure rod (612), wherein the top of the first clamping drive device (611) is fixedly connected to the crossbeam (31), and the telescopic end of the first clamping drive device (611) is fixedly connected to the first pressure rod (612).

5. The gantry-type 3D vision scanning double-head intelligent welding machine according to claim 4 is characterized in that: The second clamping mechanism (62) includes a connecting plate (621), a driving mounting seat (622), a second clamping driving device (623) and a second pressing rod (624); the connecting plate (621) is fixedly connected to the longitudinal beam (32); the driving mounting seat (622) is fixedly mounted on an end of the connecting plate (621) away from the longitudinal beam (32); the second clamping driving device (623) is fixedly mounted on the driving mounting seat (622); and the second clamping driving device (623) is used to drive the second pressing rod (624) to move.

6. The gantry type 3D vision scanning double-head intelligent welding machine according to claim 4 or 5, characterized in that: The welding machine (5) comprises a welding gun (51), a welding gun mounting seat (52) and a welding gun movable seat (53); the welding gun (51) is fixedly mounted on the welding gun mounting seat (52); the welding gun mounting seat (52) is fixedly mounted on the welding gun movable seat (53); and the welding gun movable seat (53) is movably mounted on the crossbeam (31).

7. The gantry-type 3D vision scanning double-head intelligent welding machine according to claim 6 is characterized in that: The welding gun mounting seat (52) comprises a first connecting plate (521) and a first transverse plate (522); the welding gun (51) is fixedly mounted on the first connecting plate (521); a transverse travel motor (5211) is fixedly mounted on the first connecting plate (521); a travel track (5221) is fixedly mounted on the first transverse plate (522); the transverse travel motor (5211) and the travel track (5221) are correspondingly arranged to realize a small range of transverse movement of the welding gun (51).

8. The gantry-type 3D vision scanning double-head intelligent welding machine according to claim 7 is characterized in that: The welding gun movable seat (53) comprises a longitudinal drive device (531) and a second transverse drive device (532), wherein the longitudinal drive device (531) and the second transverse drive device (532) are fixedly connected, wherein the longitudinal drive device (531) is used to drive the welding gun mounting seat (52) to move longitudinally, and the second transverse drive device (532) is used to drive movement along the crossbeam (31).

9. The gantry-type 3D vision scanning double-head intelligent welding machine according to claim 8 is characterized in that: The second transverse driving device (532) comprises a second transverse plate (5321) and a second transverse driving motor (5322); the second transverse driving motor (5322) is fixedly mounted on the second transverse plate (5321); the second transverse plate (5321) is movably connected to the crossbeam (31); and the second transverse driving motor (5322) drives the second transverse plate (5321) to move on the crossbeam (31).

10. The gantry-type 3D vision scanning double-head intelligent welding machine according to claim 9 is characterized in that: The longitudinal drive device (531) comprises a longitudinal plate (5311), a motor connecting plate (5312), a longitudinal drive motor (5313) and a connecting block (5314); the longitudinal plate (5311) is fixedly connected to the second transverse plate (5321); the motor connecting plate (5312) is fixedly connected to the top of the longitudinal plate (5311); the longitudinal drive motor (5313) is fixedly mounted on the motor connecting plate (5312); the connecting block (5314) is fixedly connected to the output end of the longitudinal drive motor (5313); the longitudinal drive motor (5313) drives the connecting block (5314) seat to move up and down; and the connecting block (5314) is fixedly connected to the first transverse plate (522).

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