Gas-insulated switchgear robot laser welding workstation
By introducing weld tracking sensors and laser fine-tuning mechanisms into the inflatable cabinet robot laser welding workstation, real-time position adjustment of laser spots is achieved, the problem of insufficient welding accuracy in the prior art is solved, and the welding accuracy is significantly improved.
Patent Information
- Application Number
- CN202421639179.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-11
- Publication Date
- 2025-05-20
- Estimated Expiration
- 2034-07-11
AI Technical Summary
Existing laser welding robots are difficult to achieve real-time position compensation, resulting in insufficient welding accuracy.
A robot laser welding workstation of inflatable cabinet is designed, using a combination of a displacement table, tooling mechanism, robot body, laser welding head, weld tracking sensor and laser fine-tuning mechanism. The offset between the welding point and the weld is detected in real time through the weld tracking sensor, and the laser light path is adjusted in real time through the laser fine-tuning mechanism to realize the position adjustment of the laser spot.
By adjusting the position of the laser spot in real time, the welding accuracy is significantly improved, and the problem of insufficient welding accuracy in the prior art is solved.
Smart Images
Figure CN222885873U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of laser welding, and in particular, to a laser welding workstation for an air-filled cabinet robot. Background Art
[0002] Laser welding is an efficient welding method that uses a laser beam with a high energy density as a heat source. Laser welding is an important aspect of the application of laser material processing technology. Laser welding can be achieved by using continuous or pulsed laser beams. The principle of laser welding can be divided into heat conduction welding and laser deep penetration welding. When the power density is less than 104 to 105 W / cm2, it is heat conduction welding, at this time the penetration depth is shallow and the welding speed is slow. When the power density is greater than 105 to 107 W / cm2, the metal surface is indented into a "hole" under the action of heat, forming deep penetration welding, which has the characteristics of fast welding speed and large depth-width ratio.
[0003] With the development of automation technology, laser welding robots are gradually applied to the welding production of air-filled cabinets. The existing laser welding robots are internally equipped with a weld seam tracking system, which can detect the offset between the weld seam and the welding torch, and feed back the compensation amount of the offset to the robot, and the robot drives the welding torch to perform position offset. For the above technical solution, the inventor believes that it is very difficult to achieve real-time position compensation by simply relying on the movement of the robot to drive the position change of the welding torch, and the welding accuracy needs to be improved. Summary of the Utility Model
[0004] In order to further improve the welding accuracy, this application provides a laser welding workstation for an air-filled cabinet robot.
[0005] A laser welding workstation for an air-filled cabinet robot provided by this application adopts the following technical solutions:
[0006] A laser welding workstation for an air-filled cabinet robot includes a tilting table and a driving mechanism for driving the tilting table to rotate. A tooling mechanism for clamping the cabinet body is provided on the tilting table. A robot body is provided on one side of the tilting table. A laser welding head is provided at the operating end of the robot body. A laser fine adjustment mechanism for offset adjustment of the light path is provided on the laser welding head. A weld seam tracking sensor is provided on one side of the laser welding head. The weld seam tracking sensor is signal-connected to the laser fine adjustment mechanism.
[0007] By adopting the above technical solution, when in use, the cabinet to be welded is placed on the positioner, and the cabinet is clamped and fixed by the tooling mechanism, and then the robot body is used to drive the laser welding head to move to achieve welding of the cabinet. The welding position of the cabinet can be scanned by the weld tracking sensor and the relative offset between the welding point and the weld can be detected in real time. The offset compensation amount is fed back to the laser fine-tuning mechanism, and the laser optical path is offset adjusted in real time, thereby realizing the position adjustment of the laser spot and achieving precision welding, which is conducive to further improving the welding accuracy.
[0008] Optionally, the laser fine-tuning mechanism includes a first lens and a second lens disposed in the laser welding head, as well as a lateral adjustment component for driving the first lens to move lateral, and a vertical adjustment component for driving the second lens to move vertically, and the lateral adjustment component and the vertical adjustment component are respectively connected to the weld tracking sensor signal.
[0009] By adopting the above technical solution, the lateral movement of the first lens is adjusted by the lateral adjustment component to achieve the purpose of adjusting the left and right movement of the laser spot; the vertical movement of the second lens is adjusted to achieve the position of the laser beam focus in the Z direction, and then the laser spot position is adjusted in real time from the Z focus and lateral position to achieve precision welding.
[0010] Optionally, the first lens is arranged in the laser welding head for sliding along the transverse direction, and the transverse adjustment assembly includes a first motor, a first screw and a first screw sleeve. The first motor is arranged on the laser welding head and is connected to the weld tracking sensor signal. The first screw is arranged transversely and fixed coaxially with the output end of the first motor. One end of the first screw sleeve is connected to the first lens, and the other end is threadedly connected to the first screw.
[0011] By adopting the above technical solution, the rotation of the first motor drives the first screw to rotate, and the rotation of the first screw drives the first screw sleeve and the first lens to move horizontally, thereby achieving the purpose of driving the first lens to move horizontally.
[0012] Optionally, the second lens is vertically slidably arranged in the laser welding head, the vertical adjustment assembly includes a second motor, a second screw and a second screw sleeve, the second motor is arranged on the laser welding head and is connected to the weld tracking sensor signal, the second screw is vertically arranged and is connected to the second motor through a bevel gear set, the second screw sleeve is threadedly connected to the outside of the second screw, and the second lens is connected to the second screw sleeve.
[0013] By adopting the above technical solution, the rotation of the second motor can drive the second screw to rotate through the bevel gear set, and the rotation of the second screw drives the second screw sleeve and the second lens to move vertically, thereby achieving the purpose of driving the second lens to move vertically.
[0014] Optionally, a frame is provided on the lower side of the tilting table. The tilting table is rotatably connected to the frame. The driving mechanism includes a servo motor and a speed reducer provided on the frame. The output end of the servo motor is connected to the input end of the speed reducer, and the output end of the speed reducer is connected to the rotation center of the tilting table.
[0015] By adopting the above technical solution, after the servo motor is started, the speed reducer drives the tilting table to rotate after deceleration, so that the cabinet body is rotated and displaced, facilitating the all-round welding of the weld position of the cabinet body by the laser welding head. On the one hand, the speed reducer can reduce the rotational speed, which is beneficial for the tilting table to achieve precise rotational displacement; on the other hand, it can increase the output torque, which is beneficial for improving the load-bearing capacity of the tilting table.
[0016] Optionally, the tooling mechanism includes clamping components oppositely arranged on the tilting table. A clamping space for placing the cabinet body is provided between the two clamping components. The clamping component includes a fixed frame, an adjusting screw rod, and a clamping plate. The fixed frame is fixed on the tilting table. The adjusting screw rod passes through the fixed frame and is threadedly connected to the fixed frame. The clamping plate is arranged at one end of the adjusting screw rod close to the clamping space, and a handwheel is provided at the end of the adjusting screw rod away from the clamping plate.
[0017] By adopting the above technical solution, turning the handwheel can drive the adjusting screw rod to move on the fixed frame. The movement of the adjusting screw rod drives the movement of the clamping plate. By adjusting the two oppositely arranged clamping plates, the cabinet body can be clamped, thereby realizing the clamping and fixing of the cabinet body, and the operation is convenient.
[0018] Optionally, the clamping plate is rotatably arranged at the end of the adjusting screw rod away from the handwheel, and a rubber pad is provided on the side of the clamping plate away from the handwheel.
[0019] By adopting the above technical solution, it can be avoided that the clamping plate generates a certain torque on the cabinet body when clamping the cabinet body, thereby affecting the clamping effect of the clamping plate; by setting the rubber pad, on the one hand, it can avoid deforming and damaging the cabinet body during clamping, and on the other hand, during clamping, the rubber pad generates compressive deformation and generates a reverse acting force, so that the threaded parts of the adjusting screw rod and the fixed frame maintain a pressing force and a frictional force, which is beneficial for improving the clamping effect.
[0020] In summary, the present application includes at least one of the following beneficial technical effects:
[0021] 1. During use, place the cabinet to be welded and processed on the tilting table, clamp and fix the cabinet through the tooling mechanism, and then drive the laser welding head to move by the robot body to achieve the welding of the cabinet. The welding position of the cabinet can be scanned by the weld seam tracking sensor, and the relative offset between the welding point and the weld seam can be detected in real time. The offset compensation amount is fed back to the laser fine-tuning mechanism to adjust the optical path of the laser in real time, so as to adjust the position of the laser spot and achieve precise welding, which is beneficial to further improve the welding accuracy.
[0022] 2. Adjust the first lens to move horizontally through the horizontal adjustment component to achieve the purpose of adjusting the left and right movement of the laser spot; adjust the second lens to move vertically to adjust the position of the laser beam focus in the Z direction, and then adjust the position of the laser spot in real time from the Z-direction focus and the horizontal position to achieve precise welding.
[0023] 3. Rotate the handwheel to drive the adjusting screw to move on the fixed frame. The movement of the adjusting screw drives the clamping plate to move. By adjusting the two relatively arranged clamping plates, the cabinet can be clamped, so as to achieve the clamping and fixing of the cabinet, and the operation is convenient. Description of the Drawings
[0024] Figure 1 It is a schematic diagram of the overall structure of a robot laser welding workstation for an air-filled cabinet according to an embodiment of the present application.
[0025] Figure 2 It is a schematic diagram of the structure of the driving mechanism in an embodiment of the present application.
[0026] Figure 3 It is a schematic diagram of the structure of the tooling mechanism in an embodiment of the present application.
[0027] Figure 4 It is a schematic diagram of the structure of the laser welding head and the weld seam tracking sensor in an embodiment of the present application.
[0028] Figure 5 It is a schematic diagram of the structure of the horizontal adjustment component in an embodiment of the present application.
[0029] Figure 6 It is a schematic diagram of the structure of the vertical adjustment component in an embodiment of the present application.
[0030] Description of reference numerals: 1, frame; 2, indexing table; 3, drive mechanism; 31, servo motor; 32, reduction gearbox; 4, tooling mechanism; 41, clamping assembly; 411, fixing bracket; 412, adjusting screw; 4121, handwheel; 413, clamping plate; 4131, rubber pad; 42, clamping space; 5, robot body; 51, welding torch bracket; 6, laser welding head; 7, laser fine-tuning mechanism; 71, first lens; 72, second lens; 73, lateral adjustment assembly; 731, first motor; 732, first screw; 733, first nut; 741, second motor; 742, second screw; 743, second nut; 744, bevel gear set; 8, weld tracking sensor. Detailed implementation manners
[0031] The following will Figure 1-6 describe the present application in further detail with reference to the
[0032] Embodiment:
[0033] The embodiment of the present application discloses a robot laser welding workstation for gas-insulated switchgear. Referring to Figure 1-2 , a robot laser welding workstation for gas-insulated switchgear includes a frame 1, an indexing table 2 arranged on the frame 1, and a drive mechanism 3 for driving the indexing table 2 to rotate. A tooling mechanism 4 for clamping the cabinet body is provided on the top of the indexing table 2. A robot body 5 is arranged on one side of the indexing table 2. A welding torch bracket 51 is fixed at the operating end of the robot body 5, and a laser welding head 6 is installed on the welding torch bracket 51. During use, the cabinet body to be welded is placed on the indexing table 2, and the cabinet body is clamped and fixed by the tooling mechanism 4. Subsequently, the robot body 5 drives the laser welding head 6 to move to realize the welding of the cabinet body.
[0034] Referring to Figure 2 , the indexing table 2 is rotatably connected to the frame 1. The drive mechanism 3 includes a servo motor 31 fixed on the frame 1 and a reduction gearbox 32. The output end of the servo motor 31 is coaxially fixed to the input end of the reduction gearbox 32, and the output end of the reduction gearbox 32 is coaxially fixed to the rotation center of the indexing table 2. After the servo motor 31 is started, the reduction gearbox 32 drives the indexing table 2 to rotate after deceleration, so that the cabinet body rotates and positions, facilitating the all-round welding of the weld position of the cabinet body by the laser welding head 6. On the one hand, the reduction gearbox 32 can reduce the rotational speed, which is beneficial to the accurate rotational positioning of the indexing table 2; on the other hand, it can increase the output torque, which is beneficial to improving the load-bearing capacity of the indexing table 2.
[0035] Referring to Figure 3, the tooling mechanism 4 includes clamping components 41 oppositely arranged on the indexing table 2, and a clamping space 42 for placing the cabinet body is provided between the two clamping components 41. The clamping component 41 includes a fixed frame 411, an adjusting screw 412 and a clamping plate 413. The fixed frame 411 is fixed on the top of the indexing table 2. The adjusting screw 412 passes through the fixed frame 411 and is threadedly connected with the fixed frame 411. The clamping plate 413 is arranged at one end of the adjusting screw 412 close to the clamping space 42. A handwheel 4121 is coaxially fixed at one end of the adjusting screw 412 away from the clamping plate 413. By turning the handwheel 4121, the adjusting screw 412 can be driven to move on the fixed frame 411, and the movement of the adjusting screw 412 drives the clamping plate 413 to move. By adjusting the two oppositely arranged clamping plates 413, the cabinet body can be clamped, so as to realize the clamping and fixing of the cabinet body, and the operation is convenient.
[0036] Referring to Figure 1 and Figure 3 , to avoid generating a certain torque on the cabinet body when the clamping plate 413 clamps the cabinet body, which in turn affects the clamping effect of the clamping plate 413, the clamping plate 413 is rotatably arranged at one end of the adjusting screw 412 away from the handwheel 4121. A rubber pad 4131 is fixed on the side of the clamping plate 413 away from the handwheel 4121. By setting the rubber pad 4131, on the one hand, it can avoid deforming and damaging the cabinet body during clamping. On the other hand, during clamping, the rubber pad 4131 generates compressive deformation and generates a reaction force, so that the threaded parts of the adjusting screw 412 and the fixed frame 411 maintain a pressing force and a frictional force, which is beneficial to improving the clamping effect.
[0037] Referring to Figure 4 , a laser fine-tuning mechanism 7 for offset adjustment of the optical path is provided on the laser welding head 6. A weld seam tracking sensor 8 is installed on one side of the laser welding head 6. The weld seam tracking sensor 8 is signal-connected to the laser fine-tuning mechanism 7. The weld seam tracking sensor 8 can scan the welding position of the cabinet body and detect the relative offset amount between the welding point and the weld seam in real time, and feed back the offset compensation amount to the laser fine-tuning mechanism 7 to offset-adjust the optical path of the laser in real time, so as to realize the position adjustment of the laser spot and realize precise welding, which is beneficial to further improving the welding accuracy.
[0038] Referring to Figure 4-6The laser fine-tuning mechanism 7 includes a first lens 71 and a second lens 72 arranged in the laser welding head 6, as well as a lateral adjustment component 73 for driving the first lens 71 to move horizontally, and a vertical adjustment component for driving the second lens 72 to move vertically. The lateral adjustment component 73 and the vertical adjustment component are respectively connected to the weld tracking sensor 8 by signal. The lateral movement of the first lens 71 is adjusted by the lateral adjustment component 73 to achieve the purpose of adjusting the left and right movement of the laser spot; the vertical movement of the second lens 72 is adjusted vertically to achieve the position of the laser beam focus in the Z direction, and then the laser spot position is adjusted in real time from the Z focus and lateral position to achieve precision welding.
[0039] Reference Figure 4-5 , the first lens 71 is slidably arranged in the laser welding head 6 in the transverse direction, and the transverse adjustment component 73 includes a first motor 731, a first screw 732 and a first screw sleeve 733. The first motor 731 is installed on the side wall of the laser welding head 6 and is connected to the signal of the weld tracking sensor 8. The first screw 732 is transversely arranged inside the shell of the laser welding head 6 and is coaxially fixed with the output end of the first motor 731. One end of the first screw sleeve 733 is fixed to the first lens 71, and the other end is threadedly connected to the first screw 732. In this way, the rotation of the first motor 731 drives the first screw 732 to rotate, and the rotation of the first screw 732 drives the first screw sleeve 733 and the first lens 71 to move transversely, thereby achieving the purpose of driving the first lens 71 to move transversely.
[0040] Reference Figure 4 and Figure 6 , the second lens 72 is vertically slidably arranged in the laser welding head 6, the vertical adjustment assembly includes a second motor 741, a second screw 742 and a second screw sleeve 743, the second motor 741 is installed on the side wall of the laser welding head 6 and is connected to the weld tracking sensor 8 signal, the second screw 742 is vertically rotatably arranged inside the shell of the laser welding head 6 and is transmission-connected to the second motor 741 through a bevel gear set 744, the second screw sleeve 743 is threadedly connected to the outside of the second screw 742, and the second lens 72 is fixedly connected to the outer wall of the second screw sleeve 743. In this way, the rotation of the second motor 741 can drive the second screw 742 to rotate through the bevel gear set 744, and the rotation of the second screw 742 drives the second screw sleeve 743 and the second lens 72 to move vertically, thereby achieving the purpose of driving the second lens 72 to move vertically.
[0041] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. An inflatable cabinet robot laser welding workstation, characterized by: The invention comprises a position changing platform (2) and a driving mechanism (3) for driving the position changing platform (2) to rotate; the position changing platform (2) is provided with a tooling mechanism (4) for clamping a cabinet; a robot body (5) is provided on one side of the position changing platform (2); a laser welding head (6) is provided at the operating end of the robot body (5); a laser fine-tuning mechanism (7) for adjusting the offset of an optical path is provided on the laser welding head (6); a weld seam tracking sensor (8) is provided on one side of the laser welding head (6); and the weld seam tracking sensor (8) and the laser fine-tuning mechanism (7) are signal-connected.
2. The inflatable cabinet robot laser welding workstation according to claim 1, characterized in that: The laser fine-tuning mechanism (7) comprises a first lens (71) and a second lens (72) arranged in the laser welding head (6), and a lateral adjustment component (73) for driving the first lens (71) to move lateraly, and a vertical adjustment component for driving the second lens (72) to move vertically, wherein the lateral adjustment component (73) and the vertical adjustment component are respectively connected to the weld seam tracking sensor (8) by signal.
3. The inflatable cabinet robot laser welding workstation according to claim 2, characterized in that: The first lens (71) is arranged in a lateral sliding manner in the laser welding head (6); the lateral adjustment component (73) comprises a first motor (731), a first screw rod (732) and a first screw sleeve (733); the first motor (731) is arranged on the laser welding head (6) and is connected to the signal of the weld tracking sensor (8); the first screw rod (732) is arranged in a lateral manner and is coaxially fixed with the output end of the first motor (731); one end of the first screw sleeve (733) is connected to the first lens (71), and the other end is threadedly connected to the first screw rod (732).
4. The inflatable cabinet robot laser welding workstation according to claim 2, characterized in that: The second lens (72) is vertically slidably arranged in the laser welding head (6); the vertical adjustment component comprises a second motor (741), a second screw (742) and a second screw sleeve (743); the second motor (741) is arranged on the laser welding head (6) and is connected to the signal of the weld tracking sensor (8); the second screw (742) is vertically arranged and is transmission-connected to the second motor (741) through a bevel gear set (744); the second screw sleeve (743) is threadedly connected to the outer side of the second screw (742); and the second lens (72) is connected to the second screw sleeve (743).
5. The inflatable cabinet robot laser welding workstation according to claim 1, characterized in that: A frame (1) is provided at the lower side of the position changing platform (2), the position changing platform (2) is rotatably connected to the frame (1), the driving mechanism (3) comprises a servo motor (31) and a reducer (32) provided on the frame (1), the output end of the servo motor (31) is connected to the input end of the reducer (32), and the output end of the reducer (32) is connected to the rotation center of the position changing platform (2).
6. The inflatable cabinet robot laser welding workstation according to claim 1, characterized in that: The tooling mechanism (4) comprises a clamping assembly (41) arranged on the position changing platform (2) relative to each other, a clamping space (42) for placing a cabinet is arranged between the two clamping assemblies (41), the clamping assembly (41) comprises a fixing frame (411), an adjusting screw (412) and a clamping plate (413), the fixing frame (411) is fixed on the position changing platform (2), the adjusting screw (412) passes through the fixing frame (411) and is threadedly connected to the fixing frame (411), the clamping plate (413) is arranged at one end of the adjusting screw (412) close to the clamping space (42), and a hand wheel (4121) is arranged at one end of the adjusting screw (412) away from the clamping plate (413).
7. The inflatable cabinet robot laser welding workstation according to claim 6, characterized in that: The clamping plate (413) is rotatably arranged at one end of the adjusting screw (412) away from the hand wheel (4121), and a rubber pad (4131) is arranged on one side of the clamping plate (413) away from the hand wheel (4121).