CN112958952A

CN112958952A - Intelligent welding robot based on machine vision

Info

Publication number: CN112958952A
Application number: CN202110147270.5A
Authority: CN
Inventors: 宋增禄; 杨战民; 周璐; 王勇
Original assignee: Nanjing Vocational University of Industry Technology NUIT
Current assignee: Nanjing Vocational University of Industry Technology NUIT
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2021-06-15

Abstract

The invention discloses an intelligent welding robot based on machine vision in the technical field of robots, which comprises: the two sliding rail assemblies are parallel; the moving seat assemblies are arranged on the tops of the two sliding rail assemblies; the two first cameras are arranged at the middle ends of the left side and the right side of the moving seat assembly in a left-right mode; the turntable assembly is arranged at the middle end of the top of the moving seat assembly; the working arm assembly is arranged at the top of the turntable assembly; the movable arm assembly is mounted at the top of the moving seat assembly; the positioning and mounting plate assembly is mounted at one end, far away from the turntable assembly, of the working arm assembly, and the welding position is shot through the four groups of second cameras, and four groups of pictures are contrasted and positioned, so that the welding accuracy is improved.

Description

Intelligent welding robot based on machine vision

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent welding robot based on machine vision.

Background

A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots built by the inventor of Liu 25219on the basis of the image of the inventor, which have the capabilities of sitting, standing, worship, lying and the like. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

The welding robot is an industrial robot that engages in welding, including cutting and painting. An industrial robot is a versatile, reprogrammable, automatically controlled Manipulator (Manipulator) with three or more programmable axes for use in the field of industrial automation, according to the international organization for standardization (ISO) which is a definition of standard welding robots. To accommodate different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, may be used to attach different tools or end effectors. The welding robot is that a welding clamp or a welding (cutting) gun is arranged on a tail shaft flange of an industrial robot, so that the welding robot can carry out welding, cutting or thermal spraying.

The vision positioning of current welding robot is fixed a position through a camera more, because there is the deviation in the mounted position of camera and the position of welding rod, leads to the location to produce the deviation, seriously influences welding robot's welding precision.

Disclosure of Invention

The invention aims to provide an intelligent welding robot based on machine vision, which aims to solve the problems that the prior welding robot in the background art is mostly positioned by a camera, and the welding precision of the welding robot is seriously influenced due to the positioning deviation caused by the deviation of the installation position of the camera and the position of a welding rod.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent welding robot based on machine vision, comprising:

the two sliding rail assemblies are parallel;

the moving seat assemblies are arranged on the tops of the two sliding rail assemblies;

the two first cameras are arranged at the middle ends of the left side and the right side of the moving seat assembly in a left-right mode;

the turntable assembly is arranged at the middle end of the top of the moving seat assembly;

the working arm assembly is arranged at the top of the turntable assembly;

the movable arm assembly is arranged at the top of the moving seat assembly, and the other end of the movable arm assembly is connected with the working arm assembly;

and the positioning mounting plate assembly is mounted on one end, far away from the turntable assembly, of the working arm assembly.

Preferably, the slide rail assembly includes:

a slide rail body;

the gear rack is installed at the bottom of the inner cavity of the sliding rail body.

Preferably, the moving seat assembly includes:

a movable seat body;

the four first motors are arranged in grooves at four corners of the bottom of the moving seat body;

the four gears are arranged in grooves at four corners of the bottom of the moving seat body, and the four gears are correspondingly arranged on output shafts of the four first motors one by one;

the motor mounting groove is formed in the middle of the top of the movable seat body.

Preferably, the turntable assembly comprises:

a fixed seat;

the second motor is arranged at the middle end of the bottom of the fixed seat, and an output shaft on the second motor penetrates through the top of the fixed seat;

the rotary table body is arranged at the top of the fixed seat, and the bottom of the rotary table body is connected with an output shaft on the second motor;

the first mounting seat is mounted on the left side of the top of the turntable body;

and the second mounting seat is mounted on the right side of the top of the turntable body.

Preferably, the work arm assembly comprises:

a first telescoping device;

the third mounting seat is mounted on the outer wall of the first telescopic device;

the second telescopic device is arranged on the telescopic rod of the first telescopic device;

and the fourth mounting seat is mounted on the outer wall of the second telescopic device.

Preferably, the movable arm assembly includes:

a third telescoping device;

the fifth mounting seat is mounted on the outer wall of the third telescopic device;

and the fourth telescopic device is arranged on the fifth mounting seat.

Preferably, the positioning and mounting plate assembly comprises:

a mounting plate body;

a welding rod mounting shaft mounted at the middle end of the front surface of the mounting plate body;

and the four second cameras are installed at the edge of the front surface of the mounting plate body in a cross manner.

Compared with the prior art, the invention has the beneficial effects that: the welding position is shot through the four groups of second cameras, four groups of pictures are compared and positioned, the welding accuracy is improved, the mounting plate body is arranged on a telescopic rod of the second telescopic device, the mounting plate body is driven to move through the second telescopic device, the welding rod mounting shaft is arranged at the middle end of the front surface of the mounting plate body, the welding rods are arranged on the welding rod mounting shaft, the four second cameras are arranged at the edge of the front surface of the mounting plate body in a cross mode, the four second cameras are used for shooting pictures of welding seams on articles to be welded and transmitting the pictures shot by the second cameras into the controller, the four groups of pictures are compared through the processor in the controller, the welding seams can be effectively positioned, and the welding accuracy is guaranteed.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a slide rail assembly according to the present invention;

FIG. 3 is a schematic view of a movable base assembly according to the present invention;

FIG. 4 is a schematic structural view of a turntable assembly according to the present invention;

FIG. 5 is a schematic view of a work arm assembly of the present invention;

FIG. 6 is a schematic view of a movable arm assembly of the present invention;

FIG. 7 is a schematic view of a positioning and mounting plate assembly according to the present invention.

In the figure: 100 slide rail components, 110 slide rail bodies, 120 rack bars, 200 moving seat components, 210 moving seat bodies, 220 first motors, 230 gears, 240 motor mounting grooves, 300 first cameras, 400 turntable components, 410 fixing seats, 420 second motors, 430 turntable bodies, 440 first mounting seats, 450 second mounting seats, 500 working arm components, 510 first telescopic devices, 520 third mounting seats, 530 second telescopic devices, 540 fourth mounting seats, 600 moving arm components, 610 third telescopic devices, 620 fifth mounting seats, 630 fourth telescopic devices, 700 positioning mounting plate components, 710 mounting plate bodies, 720 welding rod mounting shafts and 730 second cameras.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides an intelligent welding robot based on machine vision, which shoots a welding part through four groups of second cameras and contrasts and positions four groups of pictures to improve the welding accuracy, and please refer to fig. 1, which comprises: the sliding rail assembly 100, the moving seat assembly 200, the first camera 300, the turntable assembly 400, the working arm assembly 500, the movable arm assembly 600 and the positioning mounting plate assembly 700;

referring to fig. 1-2, the two sliding track assemblies 100 are parallel, and the sliding track assembly 100 includes:

the two slide rail bodies 110 are installed on the ground, and the two slide rail bodies 110 are parallel;

the gear rack 120 is installed at the bottom of the inner cavity of the slide rail body 110 through bolts;

referring to fig. 1-3, a dolly assembly 200 is installed on the top of two slide rail assemblies 100, and the dolly assembly 200 includes:

the bottom of the moving seat body 210 contacts with the top of the sliding rail body 110;

the four first motors 220 are installed in the grooves at the four corners of the bottom of the movable seat body 210 through bolts, and the first motors 220 are connected with a controller;

the four gears 230 are installed in the grooves at the four corners of the bottom of the moving seat body 210, the four gears 230 are installed on the output shafts of the four first motors 220 in a one-to-one correspondence manner through spline connection or flat key connection, the gears 230 are engaged with the gear bars 120, the gears 230 are driven to rotate through the first motors 220, and the moving seat body 210 is driven to move at the top of the sliding rail body 110 through the matching use of the gears 230 and the gear bars 120;

the motor mounting groove 240 is formed in the top middle end of the movable seat body 210;

the two first cameras 300 are arranged at the middle ends of the left side and the right side of the moving seat assembly 200 one by one, the first cameras 300 are used for positioning, when the first cameras 300 shoot an article to be welded, the first cameras 300 transmit signals into the controller, the controller cuts off the power supply of the first motor 220, and the moving seat body 210 stops moving;

referring to fig. 1, 3 and 4, a turntable assembly 400 is mounted at the top middle end of the moving seat assembly 200, and the turntable assembly 400 includes:

the fixed base 410 is fixedly installed on the top of the movable base body 210 through bolts;

the second motor 420 is installed in the inner cavity of the motor installation groove 240 through a bolt, and the top of the second motor 420 is connected with the fixed seat 410 through a bearing;

the turntable body 430 is mounted at the top of the fixed seat 410 through a bearing, the bottom of the turntable body 430 is connected with an output shaft of the second motor 420 through spline connection or flat key connection, and the turntable body 430 is driven to rotate through the second motor 420;

the first mounting seat 440 is welded at the left side of the top of the turntable body 430;

the second mounting seat 450 is welded at the right side of the top of the turntable body 430;

referring to fig. 1, 4 and 5, the work arm assembly 500 is mounted on top of the turntable assembly 400, the work arm assembly 500 including:

the first telescopic device 510 is mounted on the first mounting seat 440 through a shaft pin, the first telescopic device 510 is driven to rotate by the rotation of the turntable body 430, and the orientation of the first telescopic device 510 is adjusted according to the two first cameras 300;

the third mounting seat 520 is mounted on the outer wall of the first telescopic device 510;

the second telescopic device 530 is mounted on the telescopic rod of the first telescopic device 510 through a shaft pin, and the second telescopic device 530 is driven to move by the telescopic action of the first telescopic device 510;

the fourth mounting seat 540 is mounted on the outer wall of the second telescopic device 530;

referring to fig. 1 and 4-6, a movable arm assembly 600 is mounted on the top of the moving seat assembly 200, and the other end of the movable arm assembly 600 is connected to a work arm assembly 500, the movable arm assembly 600 including:

the third telescopic device 610 is mounted on the second mounting seat 450 through a shaft pin, a telescopic rod on the third telescopic device 610 is connected with the third mounting seat 520, and the first telescopic device 510 is driven to turn over by the third telescopic device 610 with the first mounting seat 440 as an axis;

the fifth mounting seat 620 is mounted on the outer wall of the third telescopic device 610;

the fourth expansion device 630 is mounted on the fifth mounting seat 620 through a shaft pin, an expansion link on the fourth expansion device 630 is connected with the fourth mounting seat 540, and the second expansion device 530 is driven to turn over on the first expansion device 510 through the fourth expansion device 630;

referring to fig. 1, 5 and 7, a locating mounting plate assembly 700 is mounted on the work arm assembly 500 at an end remote from the turntable assembly 400, the locating mounting plate assembly 700 comprising:

the mounting plate body 710 is mounted on a telescopic rod of the second telescopic device 530, and the mounting plate body 710 is driven to move by the second telescopic device 530;

a welding rod mounting shaft 720 is mounted at the middle end of the front surface of the mounting plate body 710, and a welding rod is mounted on the welding rod mounting shaft 720;

four second cameras 730 are the cross and install in the front surface edge of mounting panel body 710, and four second cameras 730 treat the welding seam on the welding article and carry out the picture shooting to in transmitting the picture that second camera 730 shot to the controller, contrast four groups of pictures through the treater in the controller, can effectually fix a position the welding seam, guarantee welding accuracy.

While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the embodiments disclosed herein may be used in any combination, provided that there is no structural conflict, and the combinations are not exhaustively described in this specification merely for the sake of brevity and conservation of resources. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. The utility model provides an intelligence welding robot based on machine vision which characterized in that: the method comprises the following steps:

the two sliding rail assemblies (100) are parallel to each other;

a mobile seat assembly (200), wherein the mobile seat assembly (200) is installed on the top of the two slide rail assemblies (100);

two first cameras (300), wherein the two first cameras (300) are arranged at the middle ends of the left side and the right side of the moving seat assembly (200) in a left-right mode;

a turntable assembly (400), wherein the turntable assembly (400) is installed at the top middle end of the moving seat assembly (200);

an operating arm assembly (500), the operating arm assembly (500) being mounted on top of the turntable assembly (400);

the movable arm assembly (600), the movable arm assembly (600) is installed at the top of the moving seat assembly (200), and the other end of the movable arm assembly (600) is connected with the working arm assembly (500);

a locator mounting plate assembly (700), the locator mounting plate assembly (700) being mounted on an end of the work arm assembly (500) remote from the turntable assembly (400).

2. The machine vision-based intelligent welding robot of claim 1, wherein: the slide rail assembly (100) includes:

a slide rail body (110);

the gear rack (120) is installed at the bottom of the inner cavity of the sliding rail body (110).

3. The machine vision-based intelligent welding robot of claim 1, wherein: the locomotion seat assembly (200) comprises:

a movable seat body (210);

the four first motors (220) are arranged in grooves at four corners of the bottom of the moving seat body (210);

the four gears (230) are arranged in grooves at four corners of the bottom of the moving seat body (210), and the four gears (230) are correspondingly arranged on output shafts of the four first motors (220) one by one;

the motor mounting groove (240) is formed in the top middle end of the movable seat body (210).

4. The machine vision-based intelligent welding robot of claim 1, wherein: the carousel assembly (400) comprises:

a fixed seat (410);

the second motor (420) is installed at the middle end of the bottom of the fixed seat (410), and an output shaft on the second motor (420) penetrates through the top of the fixed seat (410);

the turntable body (430) is installed at the top of the fixed seat (410), and the bottom of the turntable body (430) is connected with an output shaft on the second motor (420);

a first mounting seat (440), wherein the first mounting seat (440) is mounted at the top left side of the turntable body (430);

a second mount (450), the second mount (450) being mounted on a top right side of the turntable body (430).

5. The machine vision-based intelligent welding robot of claim 1, wherein: the work arm assembly (500) comprises:

a first telescopic device (510);

a third mounting seat (520), the third mounting seat (520) being mounted on an outer wall of the first telescopic device (510);

a second telescopic device (530), wherein the second telescopic device (530) is arranged on a telescopic rod of the first telescopic device (510);

a fourth mount (540), the fourth mount (540) mounted on an outer wall of the second telescoping device (530).

6. The machine vision-based intelligent welding robot of claim 1, wherein: the movable arm assembly (600) comprises:

a third telescopic device (610);

a fifth mounting seat (620), the fifth mounting seat (620) being mounted on an outer wall of the third telescopic device (610);

a fourth retractor (630), the fourth retractor (630) being mounted to the fifth mount (620).

7. The machine vision-based intelligent welding robot of claim 1, wherein: the positioning mounting plate assembly (700) comprises:

a mounting plate body (710);

a welding wire mounting shaft (720), the welding wire mounting shaft (720) being mounted at a front surface middle end of the mounting plate body (710);

four second cameras (730), four second cameras (730) are installed in the cross at the front surface edge of mounting panel body (710).