Steel coil inner ring laser welding device and welding robot

Abstract

The utility model relates to a steel coil inner ring laser welding device and a welding robot, the steel coil inner ring laser welding device comprises a mounting rack, a supporting mechanism and a welding mechanism, and the supporting mechanism and the welding mechanism are both arranged on the mounting rack. The supporting mechanism comprises a force applying assembly and a supporting part used for stretching into the inner ring of the steel coil and opening the inner ring of the annular steel coil, the force applying assembly is connected with the supporting part and applies supporting force to the supporting part, and the direction of the supporting force is perpendicular to the length direction of the mounting frame. The supporting part is provided with an arc-shaped supporting face which can abut against the inner wall of the inner ring, the welding mechanism comprises a laser welding head which is movably arranged in the length direction of the mounting frame, and the to-be-welded portion of the inner wall of the inner ring is located in the working range of the laser welding head. According to the steel coil inner ring laser welding device and the welding robot, the problems that an existing steel coil inner ring fixing mode is low in efficiency and dangerous in operation are solved.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, and in particular to a laser welding device and welding robot for the inner ring of steel coils. Background Technology

[0002] After the steel coil is produced, the subsequent process requires the steel coil to be rotated 90°. During the hoisting process, the steel coil is prone to collapse from the inside due to gravity, which may cause safety accidents. At present, manual bundling is used to fix the inner circle of the steel coil. However, manual fixing has problems such as complicated operation and low efficiency. In addition, the core of the steel coil often collapses and the inner circle becomes loose. Manual operation has certain safety hazards. Utility Model Content

[0003] The main purpose of this invention is to propose a laser welding device and welding robot for the inner ring of steel coils, which aims to solve the problems of low efficiency and dangerous operation of existing methods for fixing the inner ring of steel coils.

[0004] To achieve the above objectives, this utility model proposes a laser welding device for the inner ring of a steel coil, comprising a mounting frame, a support mechanism, and a welding mechanism. Both the support mechanism and the welding mechanism are mounted on the mounting frame. The support mechanism includes a force-applying component and a support portion for extending into and opening the inner ring of the annular steel coil. The force-applying component is connected to the support portion and applies a supporting force to the support portion. The direction of the supporting force is perpendicular to the length direction of the mounting frame. The support portion has an arc-shaped support surface that can abut against the inner wall of the inner ring. The welding mechanism includes a laser welding head that is movable along the length direction of the mounting frame, with the area to be welded on the inner wall of the inner ring within the working range of the laser welding head.

[0005] According to some embodiments of the present invention, a clamping mechanism is also included, which is offset from the support mechanism. The clamping mechanism includes a clamping roller for clamping the welding part of the inner wall of the inner ring, and the clamping roller is movable in the thickness direction of the mounting frame.

[0006] According to some embodiments of the present invention, the welding mechanism further includes a connecting seat, which is movable along the length direction of the mounting frame, and the laser welding head and the clamping mechanism are both disposed on the connecting seat.

[0007] According to some embodiments of the present invention, a distance sensor for detecting the distance between the laser welding head and the part to be welded is installed on the mounting bracket, and the laser welding head is movable relative to the connecting seat in the thickness direction of the mounting bracket.

[0008] According to some embodiments of the present invention, the force-applying component includes a support mandrel and a plurality of support cylinders. The plurality of support cylinders are evenly arranged along the circumference of the support mandrel. The support part includes a plurality of support segments. Each support segment is driven to be connected to the support cylinder in a one-to-one correspondence. Each support segment is driven by the corresponding support cylinder to move radially on the support mandrel.

[0009] According to some embodiments of the present invention, a guide portion is also included. The guide portion is disposed on the side of the support mechanism opposite to the welding mechanism. The guide portion is coaxially arranged with the support portion and gradually expands towards the support portion.

[0010] According to some embodiments of the present invention, a light-transmitting opening is provided in the middle of the end of the guide portion away from the support portion, and the laser welding device for the inner ring of the steel coil further includes a positioning camera for center positioning of the inner ring of the steel coil. The positioning camera is located inside the guide portion, and the light-transmitting opening is located in the detection optical path of the positioning camera.

[0011] According to some embodiments of the present invention, the support mechanism is rotatably arranged relative to the welding mechanism.

[0012] In addition, this utility model also provides a welding robot, including a robotic arm and a laser welding device for the inner ring of a steel coil as described in any of the above, wherein the robotic arm is connected to the end of the mounting frame away from the support mechanism.

[0013] According to some embodiments of this utility model, the laser welding device for the inner ring of the steel coil is driven to rotate by the robotic arm, and the axis of rotation is parallel to the length direction of the mounting frame.

[0014] This utility model has at least the following beneficial effects:

[0015] In this invention, the force-applying component of the support mechanism applies a supporting force to the support portion, causing the arc-shaped support surface of the support portion to abut against the inner wall of the inner ring of the steel coil. This expands the inner ring of the annular steel coil until it contacts the adjacent ring. Then, the laser welding head of the welding mechanism performs laser welding on the inner ring of the steel coil, welding and fixing the inner ring of the steel coil to the adjacent ring, thereby preventing the inner ring of the steel coil from collapsing. Compared to the existing method of manually bundling and fixing the inner ring of the steel coil, this invention uses the laser welding head to weld and fix the inner ring of the steel coil, which is more efficient. Furthermore, pre-expanding the inner ring of the steel coil by the support portion not only facilitates subsequent laser welding but also prevents the inner ring of the steel coil from collapsing and causing safety hazards. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of a laser welding device for the inner ring of a steel coil provided in an embodiment of this utility model;

[0018] Figure 2 for Figure 1 Front view of the laser welding device for the inner ring of China Steel Coil;

[0019] Figure 3 for Figure 1 Top view of the laser welding device for the inner ring of China Steel Coil;

[0020] Figure 4 for Figure 3 Sectional view of AA.

[0021] Explanation of reference numerals in the attached figures:

[0022] 100-Laser welding device for inner ring of steel coil; 1-Mounting frame; 2-Support mechanism; 21-Force application component; 211-Support mandrel; 212-Support cylinder; 22-Support part; 221-Support section; 3-Welding mechanism; 31-Laser welding head; 32-Connecting seat; 33-Linear motor; 4-Clamping mechanism; 41-Clamping roller; 42-Clamping cylinder; 5-Distance sensor; 6-Guide part; 7-Positioning camera. Detailed Implementation

[0023] The technical solutions in the embodiments of this utility model are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0026] This utility model provides a laser welding device and welding robot for the inner ring of steel coils. Figures 1 to 4 This invention provides a specific embodiment of a laser welding device for the inner ring of a steel coil.

[0027] like Figure 1 As shown, this utility model embodiment provides a laser welding device 100 for the inner ring of a steel coil, including a mounting frame 1, a support mechanism 2, and a welding mechanism 3. The support mechanism 2 and the welding mechanism 3 are both mounted on the mounting frame 1. The support mechanism 2 includes a force-applying component 21 and a support portion 22 for extending into and opening the inner ring of the annular steel coil. The force-applying component 21 is connected to the support portion 22 and applies a support force to the support portion 22. The direction of the support force is perpendicular to the length direction of the mounting frame 1. The support portion 22 has an arc-shaped support surface that can abut against the inner wall of the inner ring. The welding mechanism 3 includes a laser welding head 31 that is movable in the length direction of the mounting frame 1. The part of the inner wall of the inner ring to be welded is within the working range of the laser welding head 31.

[0028] In this invention, the force-applying component 21 of the support mechanism 2 applies a supporting force to the support part 22, causing the arc-shaped support surface of the support part 22 to abut against the inner wall of the inner ring of the steel coil. This expands the inner ring of the annular steel coil until it contacts the adjacent ring. Then, the laser welding head 31 of the welding mechanism 3 performs laser welding on the inner ring of the steel coil, fixing it to the adjacent ring and thus preventing the inner ring of the steel coil from collapsing. Compared to the existing method of manually bundling and fixing the inner ring of the steel coil, this invention uses the laser welding head 31 to weld and fix the inner ring of the steel coil, which is more efficient. Furthermore, pre-opening the inner ring of the steel coil by the support part 22 not only facilitates subsequent laser welding but also prevents the inner ring of the steel coil from collapsing and causing safety hazards.

[0029] In actual production, it is generally chosen to weld the inner ring of the steel coil to 3 to 5 adjacent layers of steel coil to make the welding and fixing of the inner ring of the steel coil more secure. Therefore, in some embodiments, such as Figure 2 and Figure 4 As shown, the laser welding device 100 for the inner ring of the steel coil further includes a clamping mechanism 4, which is offset from the support mechanism 2. The clamping mechanism 4 includes a clamping roller 41 for clamping the part to be welded on the inner wall of the inner ring. The clamping roller 41 is movable in the thickness direction of the mounting frame 1. Specifically, the clamping mechanism 4 also includes a clamping cylinder 42, which drives the clamping roller 41 to move in the thickness direction of the mounting frame 1. The clamping roller 41 clamps the part to be welded on the inner ring of the steel coil to the adjacent steel coil, thereby expelling air between the layers of the steel coil and improving the effect of subsequent laser welding.

[0030] Because the steel coil layers need to be separated during subsequent plate processing, in some embodiments, such as... Figure 1 and Figure 4 As shown, the welding mechanism 3 also includes a connecting seat 32, which is movable along the length of the mounting frame 1. The laser welding head 31 and the clamping mechanism 4 are both mounted on the connecting seat 32. This configuration divides the conventional full weld into multiple weld segments. After the current weld is completed, the connecting seat 32 can be moved along the length of the mounting frame 1. Since the arc-shaped support surface of the support part 22 supports the steel coil, the length of the mounting frame 1 is parallel to the axial direction of the steel coil. Therefore, the connecting seat 32 moves along the axial direction of the steel coil to the next weld, where the laser welding head 31 then welds the weld. This process is repeated until the welding is complete. The resulting full weld is shown as a dotted line. While ensuring the inner ring of the steel coil is firmly welded, the dotted line weld is easier to separate than a complete weld.

[0031] Specifically, in some embodiments, such as Figure 1 As shown, the welding mechanism 3 also includes a linear motor 33, which is mounted on the mounting frame 1 and driven to connect to the connecting seat 32. The connecting seat 32 is driven by the linear motor 33 to move along the length direction of the mounting seat.

[0032] Because this invention chooses to weld the inner ring of the steel coil to 3 to 5 adjacent layers of steel coil, compared to the conventional method of welding the inner ring of the steel coil to an adjacent layer of steel coil, the area to be welded needs to absorb more energy. Therefore, it is necessary to increase the laser power and place the area to be welded at the focal point of the laser emitted from the laser welding head 31 to increase the energy absorbed by the area to be welded. In some embodiments, such as... Figures 1 to 3 As shown, a distance sensor 5 is installed on the mounting frame 1 to detect the distance between the laser welding head 31 and the part to be welded. The laser welding head 31 is movable relative to the connecting seat 32 in the thickness direction of the mounting frame 1. With this configuration, after the support part 22 opens the steel coil, the distance between the laser welding head 31 and the part to be welded on the inner ring of the steel coil is different for steel coil cores of different sizes. By driving the laser welding head 31 to move in the thickness direction of the mounting frame 1, the distance between the laser welding head 31 and the part to be welded can be changed, so that the part to be welded is at the focal point of the laser emitted by the laser welding head 31, thereby allowing the part to be welded to absorb more energy and weld the inner ring of the steel coil together with 3 to 5 adjacent layers of steel coil.

[0033] Because steel coils of different sizes have different inner diameters, in order to accommodate more sizes of steel coils, in some embodiments, such as... Figure 4 As shown, the force-applying component 21 includes a support mandrel 211 and multiple support cylinders 212. The multiple support cylinders 212 are evenly distributed along the circumference of the support mandrel 211. The support portion 22 includes multiple support segments 221, each of which is driven and connected to a corresponding support cylinder 212. Each support segment 221 is driven by its corresponding support cylinder 212 to move radially on the support mandrel 211. With this configuration, when the inner diameter of the steel coil is small, each support cylinder 212 contracts, and each support segment 221 moves closer to the support mandrel 211, thus reducing the diameter of the support portion 22. When the inner diameter of the steel coil is large, each support cylinder 212 extends, and each support segment 221 moves away from the support mandrel 211, thus expanding the diameter of the support portion 22. This adapts to the inner diameter of steel coils of different sizes. Furthermore, the support segments 221 are arc-shaped to adapt to the shape of the inner coil of the steel coil.

[0034] The inner coil of the steel coil may collapse before the support portion 22 extends into the support, hindering the extension of the support portion 22. Therefore, in some embodiments, such as Figure 1 and Figure 4As shown, the laser welding device 100 for the inner ring of the steel coil also includes a guide portion 6. The guide portion 6 is located on the side of the support mechanism 2 facing away from the welding mechanism 3. The guide portion 6 is coaxially arranged with the support portion 22, and the guide portion 6 gradually expands towards the support portion 22. During the welding operation, the robotic arm of the welding robot is connected to the end of the mounting frame 1 away from the support mechanism 2. Since the diameter of the end of the guide portion 6 away from the support portion 22 is small, the laser welding device 100 for the inner ring of the steel coil can be moved axially along the steel coil by the robotic arm, so that the guide portion 6 extends into the inner ring of the steel coil. Even if the inner ring collapses, the guide portion 6 can support the inner ring. Since the guide portion 6 is gradually expanded, as the guide portion 6 extends in, it drives the inner ring of the steel coil to move closer to the adjacent ring. Finally, the support portion 22 opens the inner ring of the steel coil until it contacts the adjacent ring.

[0035] To ensure that the guide portion 6 can drive the inner coil of the steel coil at various positions in its circumferential direction, the guide portion 6 needs to be coaxially arranged with the inner coil of the steel coil. Therefore, in some embodiments, such as Figure 4 As shown, a light-transmitting opening is provided in the middle of the guide portion 6 at the end away from the support portion 22. The steel coil inner ring laser welding device 100 also includes a positioning camera 7 for centering the steel coil inner ring. The positioning camera 7 is located inside the guide portion 6, and the light-transmitting opening is in the detection optical path of the positioning camera 7. With this configuration, the center of the steel coil inner ring is determined by the positioning camera 7, and then the entire steel coil inner ring laser welding device 100 is moved by the robotic arm of the welding robot, so that the guide portion 6 is coaxial with the steel coil inner ring. As a result, when the guide portion 6 extends into the steel coil inner ring, it drives the steel coil inner rings at various positions in its circumference to move closer to the adjacent rings.

[0036] After welding the inner ring of the steel coil, the inner ring tip may collapse under gravity. To completely avoid this collapse, the optimal welding point for the inner ring is the inner ring tip. However, in actual production, it's impossible to guarantee that the inner ring tip is within the working range of the laser welding head 31. Therefore, in some embodiments, the support mechanism 2 is rotatably configured relative to the welding mechanism 3. With this configuration, due to the significant friction between the support portion 22 of the support mechanism 2 and the inner ring of the steel coil, when the support mechanism 2 rotates at a certain angle, the steel coil will rotate accordingly, causing the inner ring tip to rotate until it aligns with the laser welding head 31. At this point, the inner ring tip is within the working range of the laser welding head 31.

[0037] In addition, this utility model also provides a welding robot, including a robotic arm and a laser welding device 100 for the inner ring of the steel coil, wherein the robotic arm is connected to the end of the mounting frame 1 away from the support mechanism 2.

[0038] Furthermore, in some embodiments, the laser welding device 100 for the inner ring of the steel coil is driven to rotate by the robotic arm, and the axis of rotation is parallel to the length direction of the mounting frame 1. With this configuration, due to the significant friction between the support portion 22 of the support mechanism 2 and the inner ring of the steel coil, when the laser welding device 100 rotates, the inner ring of the steel coil moves relative to the adjacent rings, thereby reducing the distance between the outer wall of the inner ring and the inner wall of the adjacent rings, expelling air between the inner ring and the adjacent rings, and thus improving the laser welding effect.

[0039] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A laser welding device for the inner ring of a steel coil, characterized by, The steel coil inner circle laser welding device comprises a mounting frame, a supporting mechanism and a welding mechanism, the supporting mechanism and the welding mechanism are arranged on the mounting frame, the supporting mechanism comprises a supporting component and a supporting part for extending into the inner circle of the steel coil and supporting the inner circle of the annular steel coil, the supporting component is connected with the supporting part and applies a supporting force to the supporting part, the direction of the supporting force is perpendicular to the length direction of the mounting frame, the supporting part is provided with an arc-shaped supporting surface which can abut against the inner wall of the inner circle, and the welding mechanism comprises a laser welding head which is arranged to move in the length direction of the mounting frame, and the welding part of the inner wall of the inner circle is located in the working range of the laser welding head.

2. The steel coil inner ring laser welding apparatus of claim 1, wherein, The steel coil inner circle laser welding device further comprises a pressing mechanism which is arranged away from the supporting mechanism, the pressing mechanism comprises a pressing roller for pressing the welding part of the inner wall of the inner circle, and the pressing roller is arranged to move in the thickness direction of the mounting frame.

3. The steel coil inner ring laser welding apparatus of claim 2, wherein, The welding mechanism further comprises a connecting seat which is arranged to move in the length direction of the mounting frame, and the laser welding head and the pressing mechanism are arranged on the connecting seat.

4. The steel coil inner ring laser welding apparatus of claim 3, wherein, The mounting frame is provided with a distance measuring sensor for detecting the distance between the laser welding head and the welding part, and the laser welding head is arranged to move in the thickness direction of the mounting frame relative to the connecting seat.

5. The steel coil inner ring laser welding apparatus of claim 1, wherein, The supporting component comprises a supporting shaft and a plurality of supporting cylinders which are uniformly arranged along the circumference of the supporting shaft, the supporting part comprises a plurality of supporting segments, each supporting segment is in one-to-one driving connection with the supporting cylinder, and each supporting segment is driven to move in the radial direction of the supporting shaft by the corresponding supporting cylinder.

6. The steel coil inner ring laser welding apparatus of claim 1, wherein, The steel coil inner circle laser welding device further comprises a guide part which is arranged on the side of the supporting mechanism away from the welding mechanism, the guide part is coaxially arranged with the supporting part, and the guide part is arranged to gradually expand towards the supporting part.

7. The steel coil inner ring laser welding apparatus of claim 6, wherein, A light transmission opening is formed in the middle of the end of the guide part away from the supporting part, the steel coil inner circle laser welding device further comprises a positioning camera for center positioning of the inner circle of the steel coil, the positioning camera is arranged in the guide part, and the light transmission opening is located on the detection light path of the positioning camera.

8. The steel coil inner ring laser welding apparatus of claim 1, wherein, The supporting mechanism is arranged to rotate relative to the welding mechanism.

9. A welding robot, characterized in that, The steel coil inner circle laser welding device comprises a mechanical arm and the steel coil inner circle laser welding device as claimed in any one of claims 1 to 8, and the mechanical arm is connected with the end of the mounting frame away from the supporting mechanism.

10. The welding robot of claim 9, wherein, The steel coil inner circle laser welding device is arranged to rotate by the mechanical arm, and the axis direction of the rotation is parallel to the length direction of the mounting frame.

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