Rail transit is used for door handle laser automatic welding and detection system

Abstract

The utility model relates to rail transit welding equipment technical field, concretely relates to a rail transit is used for door handle laser automatic welding and detection system. The utility model discloses that the mechanical arm I end is provided with workpiece pickup, is used for grabbing the handle workpiece of having been fixed, and it is removed to the welding area, the mechanical arm II end is provided with the tracking welding mechanism, is used for the handle workpiece of removing to the welding area to track and weld, the tooling platform sets up in the mechanical arm I one side, is provided with the handle tooling on it, and the handle tooling has placed the handle workpiece of waiting to weld, and the material frame sets up in the mechanical arm I one side, is used for depositing the finished handle workpiece after welding. The utility model is accurate to remove through workpiece pickup and is accurate to remove through workpiece pickup, and the high resolution laser sensor of tracking welding mechanism obtains accurate weld data, cooperates 1500W fiber laser welding machine, realizes fast high quality welding, and the protection gas closed loop control optimizes the welding environment, and the welding and detection quality are improved.

Description

Technical Field

[0001] This utility model relates to the field of rail transit welding equipment technology, specifically to a rail transit door handle laser automatic welding and inspection system. Background Technology

[0002] In the field of rail transit equipment manufacturing, door handles are frequently used, and their welding quality directly affects the product's safety, durability, and appearance. Traditional manual welding of door handles has many drawbacks: the quality is extremely unstable, affected by the operator's skill level and physical condition, resulting in significant differences in weld reinforcement and penetration, and frequent defects such as incomplete fusion and undercut. To solve these problems, the industry has attempted to introduce robotic welding. For example, the solution provided by the Chinese patent publication number CN118578024A. However, when faced with door handle structures that are complex, welds that are irregular, and workpieces with manufacturing tolerances, the general-purpose robotic welding solution lacks real-time perception and correction capabilities, resulting in unsatisfactory welding effects. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a laser automatic welding and inspection system for door handles in rail transit.

[0004] The technical solution adopted in this utility model is as follows: An automated laser welding and inspection system for door handles in rail transit includes a frame and the following components mounted on the frame: Robotic arm I, with a workpiece picker at its end, is used to grab the tack-fixed handle workpiece and transfer it to the welding area; Robotic arm II, with a tracking welding mechanism at its end, is used to track and weld the handle workpiece that is transferred to the welding area; A tooling table is set on one side of the robotic arm I, on which a hand tool is set, and the handle workpiece to be welded is placed inside the hand tool; The material storage box, located on one side of robotic arm I, is used to store the finished handle workpieces after welding.

[0005] This technical solution achieves high efficiency, precision, and automation in the welding of rail transit door handles by introducing a workpiece picker and a tracking welding mechanism, thereby improving production efficiency and welding quality. Specifically, by integrating robotic arm I with the workpiece picker, precise workpiece gripping and transfer are achieved. The tracking welding mechanism of robotic arm II, combined with high-precision sensors and laser technology, dynamically tracks and welds the workpiece. The principle lies in ensuring workpiece stability and welding quality during the welding process through automated control and spatial positioning, while simultaneously improving production efficiency. Furthermore, the handle workpiece includes an inner non-standard arc-shaped area and an uneven gap area at the tail. The handpiece is equipped with a groove that mates with the handle workpiece; the handle workpiece is placed in the groove and pressed and tack-fixed, suitable for multi-variety, small-batch production modes.

[0006] In addition, the automatic laser welding and inspection system for door handles in rail transit proposed above according to this utility model may also have the following additional technical features: According to one embodiment of the present invention, the workpiece picker includes a rotary cylinder, grippers, and a position sensor, wherein: The front end of the rotary cylinder is equipped with a gripper, which has a positioning groove and is positioned towards the handle and workpiece. The position sensor is located at the rear end of the rotary cylinder and is used to detect whether the handle has gripped the workpiece in place.

[0007] In this technical solution, the workpiece picker uses a rotary cylinder to drive the gripper to open and close, thereby grasping and releasing the workpiece. The positioning groove on the gripper ensures accurate positioning during grasping and prevents the workpiece from slipping. The position sensor detects the position change of the rotary cylinder to indirectly determine whether the gripper has successfully grasped the workpiece, thus realizing closed-loop control of the grasping process and improving the reliability of grasping.

[0008] According to one embodiment of the present invention, the tracking welding mechanism includes a fixed bracket connected to the robotic arm II, and a laser tracker and a laser welder disposed on the fixed bracket, wherein: The laser tracker is set up in parallel with the laser welder. The laser tracker is used to perform three-dimensional scanning and positioning of the welding area of ​​the handle workpiece. The laser welding machine includes a laser welding gun head and a wire feeding mechanism. A gas protection nozzle is installed at the end of the laser welding gun head, which is used to provide protective gas toward the welding area. The wire feeding mechanism is tilted below the laser welding gun head and is used to feed the welding wire.

[0009] The tracking welding mechanism of this technical solution integrates a laser tracker and a laser welder onto a robotic arm II via a fixed bracket. The laser tracker performs a three-dimensional scan of the welding area to accurately obtain the weld position information. Subsequently, the laser welder performs precise welding through the laser welding torch head based on the obtained position information. At the same time, the wire feeding mechanism delivers the welding wire to the welding point, and the gas protection nozzle provides protective gas to prevent metal oxidation during the welding process and ensure welding quality.

[0010] According to one embodiment of this utility model, the protective gas provided by the gas protection nozzle is a mixture of argon and carbon dioxide, and the mixing ratio is adjusted according to different welding materials and process requirements; the gas protection nozzle is equipped with a flow regulating valve and a pressure sensor, wherein: The flow control valve is used to regulate the flow rate of the protective gas; Pressure sensors are used to monitor the pressure of protective gas in real time.

[0011] In this technical solution, argon gas stabilizes the electric arc and reduces spatter, while carbon dioxide enhances penetration and increases welding speed. By adjusting the mixing ratio, it can adapt to different welding materials and process requirements. The flow regulating valve and pressure sensor constitute a closed-loop control system to ensure a stable supply of protective gas in terms of flow and pressure, optimize the welding environment, and improve welding quality.

[0012] According to one embodiment of the present invention, a track is provided on the frame, and a sliding base frame is connected to robotic arm I and robotic arm II on the track for adjusting the position of robotic arm I and robotic arm II in the horizontal direction to adapt to the welding requirements of handle workpieces of different sizes and specifications. A locking device is provided between the sliding base frame and the track for locking and fixing after adjustment.

[0013] In this technical solution, the position of the robotic arm can be adjusted by sliding the base frame on the track to accommodate handle workpieces of different sizes. The locking device design ensures that the robotic arm can be stably fixed after adjustment, avoiding welding quality issues caused by positional displacement during the welding process.

[0014] According to one embodiment of the present invention, both robotic arm I and robotic arm II are six-axis robots, wherein: The laser tracker on the robotic arm II is a high-resolution laser sensor with a resolution of 0.08mm, a field of view of 100mm×130mm and a frequency of 1000Hz, used to acquire the actual spatial coordinates and morphological data of the weld seam of the handle workpiece. The laser welder is a 1500W fiber laser welder.

[0015] In this technical solution, the six-axis robot achieves precise positioning and posture adjustment in space through the flexible movement of its six joints; the high-resolution laser sensor on the robotic arm II uses a laser beam to scan the weld seam and obtain its three-dimensional coordinates and shape data, providing precise guidance for subsequent welding; the 1500W fiber laser welding machine uses a high-energy-density laser beam to achieve fast and high-quality welding.

[0016] Compared with the prior art, this utility model has the following advantages: This invention uses a workpiece picker to precisely grasp and transfer the workpiece, and a high-resolution laser sensor that tracks the welding mechanism to obtain accurate weld data. Combined with a 1500W fiber laser welding machine, it achieves rapid and high-quality welding. At the same time, it uses a closed-loop protective gas control to optimize the welding environment and improve welding and inspection quality. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the workpiece pickup mechanism.

[0019] Figure 3 This is a schematic diagram of a laser welder.

[0020] In the diagram: 1. Frame; 2. Tooling table; 3. Robotic arm I; 4. Workpiece picker; 41. Rotary cylinder; 42. Gripper; 43. Position sensor; 44. Handle workpiece; 5. Robotic arm II; 6. Tracking welding mechanism; 61. Fixed bracket; 62. Laser tracker; 63. Laser welding torch head; 64. Gas protection nozzle; 65. Wire feeding mechanism; 7. Material placement frame. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0022] Example 1 like Figures 1 to 3 As shown, this embodiment provides a laser automatic welding and inspection system for door handles in rail transit, including a frame 1 and the following components mounted on the frame 1: Robotic arm I3, with a workpiece picker 4 at its end, is used to grab the tack-fixed handle workpiece and transfer it to the welding area; Robotic arm II5, with a tracking welding mechanism 6 at its end, is used to track and weld the handle workpiece that is transferred to the welding area; Tooling table 2 is set on one side of robotic arm I3, and a hand tool is set on it, with the handle workpiece to be welded placed inside the hand tool; The material placement frame 7 is located on one side of the robotic arm I3 and is used to store the finished handle workpiece after welding.

[0023] like Figures 1 to 3 As shown, this technical solution, by introducing a workpiece picker 4 and a tracking welding mechanism 6, achieves high efficiency, precision, and automation in the welding of rail transit door handles, thereby improving production efficiency and welding quality. Specifically, by integrating a robotic arm I 3 and a workpiece picker 4, precise workpiece gripping and transfer are achieved. The tracking welding mechanism 6 of the robotic arm II 5, combined with high-precision sensors and laser technology, dynamically tracks and welds the workpiece. The principle lies in ensuring the stability of the workpiece and the welding quality during the welding process through automated control and spatial positioning, while simultaneously improving production efficiency. Furthermore, the handle workpiece includes an inner non-standard arc-shaped area and an uneven gap area at the tail. The handpiece is equipped with a groove that matches the handle workpiece; the handle workpiece is placed in the groove and pressed and tack-fixed, suitable for multi-variety, small-batch production modes.

[0024] In addition, the automatic laser welding and inspection system for door handles in rail transit proposed above according to this utility model may also have the following additional technical features: According to one embodiment of the present invention, the workpiece picker 4 includes a rotary cylinder 41, a gripper 42, and a position sensor 43, wherein: The front end of the rotary cylinder 41 is provided with a gripper 42, which has a positioning groove and is positioned toward the handle workpiece. The position sensor 43 is located at the rear end of the rotary cylinder 41 and is used to detect whether the handle has gripped the workpiece in place.

[0025] In this technical solution, the workpiece picker 4 uses a rotary cylinder 41 to drive the gripper 42 to open and close, thereby grasping and releasing the workpiece. The positioning groove on the gripper 42 ensures accurate positioning during grasping and prevents the workpiece from slipping. The position sensor 43 detects the position change of the rotary cylinder 41 and indirectly determines whether the gripper 42 has successfully grasped the workpiece, thereby realizing closed-loop control of the grasping process and improving the reliability of grasping.

[0026] According to one embodiment of the present invention, the tracking welding mechanism 6 includes a fixed bracket 61 connected to the robotic arm II 5, and a laser tracker 62 and a laser welder disposed on the fixed bracket 61, wherein: The laser tracker 62 is set in parallel with the laser welder. The laser tracker 62 is used to perform three-dimensional scanning and positioning of the welding area of ​​the handle workpiece. The laser welder includes a laser welding gun head 63 and a wire feeding mechanism 65. A gas protection nozzle 64 is installed at the end of the laser welding gun head 63. The gas protection nozzle 64 is used to provide protective gas toward the welding area. The wire feeding mechanism 65 is inclined below the laser welding gun head 63 and is used to feed the welding wire.

[0027] In this technical solution, the tracking welding mechanism 6 integrates the laser tracker 62 and the laser welder onto the robotic arm II 5 via a fixed bracket 61. The laser tracker 62 performs a three-dimensional scan of the welding area to accurately obtain the weld position information. Subsequently, the laser welder performs precise welding through the laser welding gun head 63 based on the obtained position information. At the same time, the wire feeding mechanism 65 delivers the welding wire to the welding point, and the gas protection nozzle 64 provides protective gas to prevent metal oxidation during the welding process and ensure welding quality.

[0028] According to one embodiment of the present invention, the protective gas provided by the gas protection nozzle 64 is a mixture of argon and carbon dioxide, and the mixing ratio is adjusted according to different welding materials and process requirements; the gas protection nozzle 64 is equipped with a flow regulating valve and a pressure sensor, wherein: The flow control valve is used to regulate the flow rate of the protective gas; Pressure sensors are used to monitor the pressure of protective gas in real time.

[0029] In this technical solution, argon gas stabilizes the electric arc and reduces spatter, while carbon dioxide enhances penetration and increases welding speed. By adjusting the mixing ratio, it can adapt to different welding materials and process requirements. The flow regulating valve and pressure sensor constitute a closed-loop control system to ensure a stable supply of protective gas in terms of flow and pressure, optimize the welding environment, and improve welding quality.

[0030] According to one embodiment of the present invention, the frame 1 is provided with a track, and the track is connected to the robotic arm I3 and robotic arm II5 via a sliding base frame, which is used to adjust the position of robotic arm I3 and robotic arm II5 in the horizontal direction to adapt to the welding requirements of handle workpieces of different sizes and specifications. A locking device is provided between the sliding base frame and the track, which is locked and fixed after adjustment.

[0031] In this technical solution, the position of the robotic arm can be adjusted by sliding the base frame on the track to accommodate handle workpieces of different sizes. The locking device design ensures that the robotic arm can be stably fixed after adjustment, avoiding welding quality issues caused by positional displacement during the welding process.

[0032] According to one embodiment of the present invention, both robotic arm I3 and robotic arm II5 are six-axis robots, wherein: The laser tracker 62 on the robotic arm II5 is a high-resolution laser sensor with a resolution of 0.08mm, a field of view of 100mm×130mm and a frequency of 1000Hz, used to acquire the actual spatial coordinates and morphological data of the weld seam of the handle workpiece. The laser welder is a 1500W fiber laser welder.

[0033] In this technical solution, the six-axis robot achieves precise positioning and posture adjustment in space through the flexible movement of its six joints; the high-resolution laser sensor on the robotic arm II5 uses a laser beam to scan the weld seam and obtain its three-dimensional coordinates and shape data, providing precise guidance for subsequent welding; and the 1500W fiber laser welding machine uses a high-energy-density laser beam to achieve fast and high-quality welding.

[0034] The usage process of the above embodiments is as follows: like Figures 1 to 3 As shown, during operation, the handle workpiece to be welded is first placed in the manual mounting groove of the tooling table 2 and pressed and secured; the workpiece picker 4 at the end of the robotic arm I 3, with its rotating cylinder 41 driving the gripper 42 with positioning groove to open and close, and the position sensor 43 detecting the gripping situation, accurately picks up the secured handle workpiece and moves it to the welding area; the robotic arm II 5, as a six-axis robot, moves flexibly through six joints for precise positioning; in its end-effector tracking welding mechanism 6, a high-resolution laser sensor performs a three-dimensional scan of the welding area to obtain weld coordinates and morphology data; the 1500W fiber laser welding machine welds through the laser welding gun head 63 according to the data, the wire feeding mechanism 65 feeds the welding wire, the gas protection nozzle 64 provides a mixture of argon and carbon dioxide gas, and the flow regulating valve and pressure sensor form a closed-loop control to stably supply gas; at the same time, the sliding base adjusts the position of the robotic arm on the track to adapt to workpieces of different sizes, the locking device fixes the robotic arm to ensure welding stability, and after welding, the finished product is placed in the material placement box 7.

[0035] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, it is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the present invention by those skilled in the art without departing from the spirit and essence of the present invention, and such modifications or substitutions should all be within the scope of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should also be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the scope of the claims.

Claims

1. A laser automatic welding and inspection system for door handles in rail transit, characterized in that, Includes a frame (1), and the following components mounted on the frame (1): Robotic arm I (3), with a workpiece picker (4) at its end, is used to pick up the tack-fixed handle workpiece and transfer it to the welding area; Robotic arm II (5) is equipped with a tracking welding mechanism (6) at its end, which is used to track and weld the handle workpiece that is transferred to the welding area; The tooling table (2) is set on one side of the robotic arm I (3), and a hand tool is set on it, with the handle workpiece to be welded placed inside the hand tool; The material placement frame (7) is located on one side of the robotic arm I (3) and is used to store the finished handle workpiece after welding.

2. The automatic laser welding and inspection system for door handles in rail transit according to claim 1, characterized in that, The workpiece picker (4) includes a rotary cylinder (41), a gripper (42), and a position sensor (43), wherein: The front end of the rotary cylinder (41) is provided with a gripper (42), which has a positioning groove and is positioned toward the handle workpiece; The position sensor (43) is located at the rear end of the rotary cylinder (41) and is used to detect whether the handle workpiece has been gripped in place.

3. The automatic laser welding and inspection system for door handles in rail transit according to claim 1, characterized in that, The tracking welding mechanism (6) includes a fixed bracket (61) connected to the robotic arm II (5), and a laser tracker (62) and a laser welder mounted on the fixed bracket (61), wherein: The laser tracker (62) is set in parallel with the laser welder. The laser tracker (62) is used to perform three-dimensional scanning and positioning of the welding area of ​​the handle workpiece. The laser welder includes a laser welding gun head (63) and a wire feeding mechanism (65). A gas protection nozzle (64) is installed at the end of the laser welding gun head (63). The gas protection nozzle (64) is used to provide protective gas toward the welding area. The wire feeding mechanism (65) is inclined below the laser welding gun head (63) and is used to feed the welding wire.

4. The automatic laser welding and inspection system for door handles in rail transit according to claim 3, characterized in that, The protective gas provided by the gas protection nozzle (64) is a mixture of argon and carbon dioxide, and the mixing ratio is adjusted according to different welding materials and process requirements; the gas protection nozzle (64) is equipped with a flow regulating valve and a pressure sensor, wherein: The flow control valve is used to regulate the flow rate of the protective gas; Pressure sensors are used to monitor the pressure of protective gas in real time.

5. The automatic laser welding and inspection system for door handles in rail transit according to claim 1, characterized in that, The frame (1) is equipped with a track, and the track is connected to the robotic arm I (3) and robotic arm II (5) via a sliding base frame. The track is used to adjust the position of robotic arm I (3) and robotic arm II (5) in the horizontal direction to adapt to the welding requirements of handle workpieces of different sizes and specifications. A locking device is provided between the sliding base frame and the track, and it is locked and fixed after adjustment.

6. The automatic laser welding and inspection system for door handles in rail transit according to claim 1, characterized in that, Both robotic arm I (3) and robotic arm II (5) are six-axis robots, wherein: The laser tracker (62) on the robotic arm II (5) is a high-resolution laser sensor with a resolution of 0.08 mm, a field of view of 100 mm × 130 mm and a frequency of 1000 Hz, used to obtain the actual spatial coordinates and morphological data of the weld seam of the handle workpiece; The laser welder is a 1500W fiber laser welder.

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