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CN-121972803-A - Adjustable intelligent automatic laser welding machine and method

CN121972803ACN 121972803 ACN121972803 ACN 121972803ACN-121972803-A

Abstract

The invention relates to the technical field of welding equipment, in particular to an adjustable intelligent automatic laser welding machine and method. The technical scheme includes that the welding bench comprises at least two welding platforms for bearing S-shaped steel, wherein the welding platforms are provided with guide-in platforms at the entrance of the S-shaped steel path, the welding bench further comprises a welding robot and a capturing system at the side of the welding platforms, and the capturing system comprises a supporting position unit and a welding position capturing unit. The invention uses the technology of spot welding and full welding, which can avoid the problems of uneven expansion caused by heat and contraction caused by cold of metal, and the problems of peak collapse, valley filling or integral distortion caused by the uneven expansion caused by heat and contraction caused by cold of metal. Scanning the S-shaped steel section after the S-shaped steel is moved through the three-dimensional scanner, acquiring the wave crest and the wave trough positions of the section, and marking through the infrared positioning instrument, so that the welding robot can determine the center line standard of the welding line, the later stress concentration caused by the deviation of the welding line from the stress center of the section is avoided, the spot welding point is always aligned with the center of the welding line, and further the welding line is prevented from cracking when the later stress is applied.

Inventors

  • QIN HONG

Assignees

  • 耀族(唐山)金属制品有限公司

Dates

Publication Date
20260505
Application Date
20260316

Claims (8)

  1. 1. The adjustable intelligent automatic laser welding machine is characterized by comprising at least two welding tables for bearing the S-shaped steel, wherein the welding tables are provided with an introduction table at the entrance of the S-shaped steel path; the welding robot and the capturing system at the side of the welding table are also included, the capturing system comprises a supporting position unit and a welding position capturing unit, the welding robot and the welding position capturing unit are both positioned at the entrance of the path of the S-shaped steel, the welding robot is provided with a laser welding head and captures preset welding points through a visual sensor to perform spot welding and then full welding operation; The welding table consists of two shells, wherein the shells comprise a supporting table and supporting walls, and supporting position units which are equidistantly distributed along the running direction of the S-shaped steel are arranged in the supporting table; The support position units comprise miniature hydraulic devices, support rollers are rotatably arranged at pushing ends of the miniature hydraulic devices, pressure sensors are arranged in the support rollers, and each support position unit is provided with different position coordinates; The welding position capturing unit comprises a three-dimensional scanner, an infrared positioning instrument and a mask plate, wherein the three-dimensional scanner, the infrared positioning instrument and the mask plate are all positioned at the section of the S-shaped steel; The welding robot further comprises a central control computer for controlling, wherein the central control computer is electrically connected with the capturing system and the welding robot; Scanning the axial surface of the S-shaped steel by a three-dimensional scanner when the S-shaped steel moves, identifying bending parameters of the axial surface and generating a plurality of axial surface coordinates, matching the axial surface coordinates with the position coordinates of each supporting position unit, wherein the power of the micro hydraulic device is larger than that of an unmatched micro hydraulic device when the successfully matched supporting position units operate; when the movement of the S-shaped steel is completed, the three-dimensional scanner scans the section of the S-shaped steel, identifies bending parameters of the section and generates a plurality of section coordinates, the infrared positioning instrument sends out laser to mark each section coordinate, and the welding robot captures laser to perform spot welding and then full welding.
  2. 2. The adjustable intelligent automatic laser welding machine according to claim 1, wherein the bending parameters of the axial surface of the S-shaped steel comprise the peak position and the peak height of the axial surface of the S-shaped steel, and the bending parameters of the section of the S-shaped steel comprise the peak position and the trough position of the section of the S-shaped steel.
  3. 3. The adjustable intelligent automatic laser welding machine and method according to claim 1, wherein the two shells are opposite in installation direction and distributed in a staggered manner, and a bottom plate is fixed between the two adjacent shells.
  4. 4. The adjustable intelligent automatic laser welding machine according to claim 1, wherein a roller shell is arranged at the pushing end of the micro hydraulic device, a supporting roller is rotatably arranged on the roller shell, and supporting position units distributed at equal intervals along the running direction of the S-shaped steel are arranged in the supporting table.
  5. 5. The adjustable intelligent automatic laser welding machine according to claim 1, wherein the guiding-in table comprises two symmetrically arranged table bodies, a motor fixed in the table bodies, and a guiding-in roller fixedly arranged at the output end of the motor.
  6. 6. The adjustable intelligent automatic laser welding machine according to claim 5, wherein a lifting assembly is arranged between the leading-in tables at two sides, the lifting assembly comprises a threaded rod fixedly installed on the leading-in roller, a connecting plate is installed on the threaded rod in a threaded mode, the connecting plate penetrates through the second guide box and is in sliding connection with the second guide box, the second guide box is fixed on a table body, first guide boxes are fixed on the table body at the entrance of the S-shaped steel path, guide rods are fixed in the first guide boxes, a mounting plate positioned between the two first guide boxes is fixed on the connecting plate, and two mounting plates respectively penetrate through two ends of the mounting plate.
  7. 7. The adjustable intelligent automatic laser welding machine according to claim 6, wherein the three-dimensional scanner and the infrared positioning instrument are both fixed on the mounting plate, one end of the mask is hinged on the mounting plate, the other end of the mask is fixed with a mask rod, the surface of the supporting wall is provided with a moving groove, and one end of the mask rod is slidably arranged in the moving groove.
  8. 8. An adjustable intelligent automated laser method based on the adjustable intelligent automated laser welder of claim 1, comprising the steps of: S1, S-shaped steel enters a welding table through an introduction table; s2, scanning the axial surface of the S-shaped steel by a three-dimensional scanner of the welding position capturing unit to generate a plurality of axial surface coordinates in the moving process of the S-shaped steel, and after the S-shaped steel is moved, matching each supporting position unit with the plurality of axial surface coordinates, wherein the operation power of the supporting position unit successfully matched is increased; And S3, scanning the section of the S-shaped steel by a three-dimensional scanner to generate a plurality of section coordinates, marking by an infrared positioning instrument, capturing laser by a welding robot to perform spot welding one by one, and then performing full welding.

Description

Adjustable intelligent automatic laser welding machine and method Technical Field The invention relates to the technical field of welding equipment, in particular to an adjustable intelligent automatic laser welding machine and method. Background S-shaped steel is used as a special-shaped member with continuous curved surface characteristics, and is increasingly widely applied to the industrial and civil fields by virtue of excellent mechanical properties and attractive modeling advantages. The supporting structure of the existing welding equipment is mostly a fixed rigid structure, such as a plane supporting table and a single-radian arc frame, and the supporting state cannot be adjusted according to the dynamic curved surface characteristics of S-shaped steel. If the support is completely adjusted manually, the efficiency is low, the support precision cannot be ensured, and particularly for segmented spliced S-shaped steel with the length of more than 6 meters, the support error is easy to accumulate to cause the subsequent welding misalignment exceeding standard. In addition, the posture adjustment of a welding gun of a traditional laser welding machine depends on a preset program, and accurate welding cannot be performed according to the actual section of S-shaped steel. When the S-shaped steel is locally deviated due to processing errors, the preset welding path is easy to be misplaced with an actual welding line, and defects such as unfused and undercut are caused. Disclosure of Invention The invention aims to solve the problems in the background technology and provides an adjustable intelligent automatic laser welding machine and a method. The technical scheme of the invention is that the adjustable intelligent automatic laser welding machine comprises at least two welding tables for bearing S-shaped steel, wherein the welding tables are provided with an introduction table at the entrance of the path of the S-shaped steel; the welding robot and the capturing system at the side of the welding table are also included, the capturing system comprises a supporting position unit and a welding position capturing unit, the welding robot and the welding position capturing unit are both positioned at the entrance of the path of the S-shaped steel, the welding robot is provided with a laser welding head and captures preset welding points through a visual sensor to perform spot welding and then full welding operation; The welding table consists of two shells, wherein the shells comprise a supporting table and supporting walls, and supporting position units which are equidistantly distributed along the running direction of the S-shaped steel are arranged in the supporting table; The support position units comprise miniature hydraulic devices, support rollers are rotatably arranged at pushing ends of the miniature hydraulic devices, pressure sensors are arranged in the support rollers, and each support position unit is provided with different position coordinates; The welding position capturing unit comprises a three-dimensional scanner, an infrared positioning instrument and a mask plate, wherein the three-dimensional scanner, the infrared positioning instrument and the mask plate are all positioned at the section of the S-shaped steel; The welding robot further comprises a central control computer for controlling, wherein the central control computer is electrically connected with the capturing system and the welding robot; Scanning the axial surface of the S-shaped steel by a three-dimensional scanner when the S-shaped steel moves, identifying bending parameters of the axial surface and generating a plurality of axial surface coordinates, matching the axial surface coordinates with the position coordinates of each supporting position unit, wherein the power of the micro hydraulic device is larger than that of an unmatched micro hydraulic device when the successfully matched supporting position units operate; when the movement of the S-shaped steel is completed, the three-dimensional scanner scans the section of the S-shaped steel, identifies bending parameters of the section and generates a plurality of section coordinates, the infrared positioning instrument sends out laser to mark each section coordinate, and the welding robot captures laser to perform spot welding and then full welding. Preferably, the S-shaped steel axial surface bending parameters comprise the crest position and the crest height of the S-shaped steel axial surface, and the S-shaped steel section bending parameters comprise the crest position and the trough position of the S-shaped steel section. Preferably, the two shells are opposite in installation direction and distributed in a staggered manner, and a bottom plate is also fixed between the two adjacent shells. Preferably, the pushing end of the miniature hydraulic device is provided with a roller shell, the roller shell is rotatably provided with a supporting roller, and supporting posi