CN114952098A

CN114952098A - Intelligent welding seam locating system based on machine vision guiding and welding robot

Info

Publication number: CN114952098A
Application number: CN202210634808.XA
Authority: CN
Inventors: 林远长; 刘�东; 罗胜; 廖俊; 尚明生; 何国田
Original assignee: Chongqing Institute of Green and Intelligent Technology of CAS
Current assignee: Chongqing Institute of Green and Intelligent Technology of CAS
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2022-08-30

Abstract

The invention discloses an intelligent welding seam locating system based on machine vision guidance, which comprises a preprocessing unit, a welding seam identification unit, a coordinate position calculation unit, a welding seam teaching unit and a path planning unit, wherein the welding seam identification unit is installed at the output end of the preprocessing unit; the preprocessing unit comprises a camera and a picture collector, and the welding line identification unit comprises a signal processor and a display screen. According to the invention, by installing the sliding chute, the hydraulic push rod, the miniature industrial camera and the CCD camera, when the CCD camera scans that the welded part has air holes or defects, the position of the storage box is adjusted, and then one group of hydraulic push rods is started, so that the miniature industrial camera can further confirm the position of the welding seam, and the efficiency of positioning the welding seam is improved.

Description

Intelligent welding seam locating system based on machine vision guiding and welding robot

Technical Field

The invention relates to the technical field of machine vision, in particular to an intelligent welding seam locating system based on machine vision guidance and a welding robot.

Background

With the continuous development of science and technology, machine vision is a relatively important existence in production, and in production and manufacturing, can scan the inquiry to the article through machine vision usually to location object surface defect, but the current weldment is sought the seam robot and is still had great defect in the in-process of looking for the welding seam, consequently, an intelligent welding seam system and welding robot are sought to a urgent need based on machine vision guide.

The robot for the existing welding seam locating system has the following defects:

1. patent document CN206684462U discloses a weld image collecting system, which comprises a welding gun, a camera, an optical lens and an image processor for welding pipes, wherein the orientation of the welding gun is vertically downward and right opposite to the pipes, the camera is located on the side surface of the welding gun, the orientation of the camera is vertically downward, the optical lens is located on the side surface of the welding gun, and meanwhile, under the camera, the optical lens is an optical lens which enables the camera to collect images of the pipes and the welding gun after being reflected by the optical lens from the right above, the image processor is connected with the camera, and the image processor is an image processor for storing and processing images. The utility model discloses the welding seam image acquisition system that obtains, its technical effect is the reflection that utilizes optical lens piece for tubular product and welder image can be gathered through optical lens piece reflection back directly over to the camera, thereby guarantees the smooth collection of welding seam image.

However, the weld image capture system of the above publication merely captures images by optical mirror reflection and cannot determine the specific location of the weld.

In view of the above, there is a need to develop a welding seam locating device capable of further determining the welding seam position, so as to facilitate the subsequent robot path planning.

2. Patent document CN206780389U discloses a vision welding seam tracker with leak welding mark function, beat mark device, image processor, deviation correcting device and welder including connecting gradually, image processor still is connected with camera and display respectively, wherein the aforesaid is beaten the mark device and is become by spray gun, slip table and the driver that drives the slip table and remove, and above-mentioned spray gun is fixed on the slip table and is removed along with the slip table, deviation correcting device is the deviation correcting device who is used for correcting the deviation between welder and the welding seam position, image processor is the image that is used for receiving the camera and gathers to calculate the deviation value of welder and welding seam position, rectify simultaneously and judge whether need beat the image processor who marks. The welding gun position display method has the technical effects that the welding gun position display method can judge that the welding gun and the welding seam are displayed in the display under the condition of overlarge position deviation in the welding process, marks are marked through the marking device, and whether welding is missed or not is observed in the subsequent engineering, so that the phenomenon of welding missing in the use process can be effectively reduced.

However, the seam locating in the above-mentioned publications mainly considers how to reduce the probability of missing welding in the welding process, and cannot detect the quality after welding, which increases the economic cost to some extent.

In view of the above, it is necessary to develop a device capable of detecting the welding quality after the welding of the welding seam of the weldment, so as to reduce the waste of economic cost.

3. Patent document CN111673749A discloses an adjustment method of a vision welding robot and the vision welding robot, the vision welding robot has a camera, the method includes: synchronizing a control coordinate system of a control system of the visual welding robot with a basic coordinate system of the visual welding robot; acquiring an image of a to-be-welded part acquired by a camera to extract a welding seam track in the image of the to-be-welded part and extract characteristic points of the welding seam track; obtaining coordinates of the characteristic points of the welding seam track in a robot base coordinate system; controlling the camera to move along the welding seam track according to the welding seam track and the coordinates of the characteristic points in the robot base coordinate system; and adjusting the position of the camera of the visual welding robot according to the picture shot by the camera moving along the welding seam track. The technical method can ensure that the robot body and related parts are not damaged in the debugging process when the vision welding robot is automatically adjusted and calibrated, and also ensures the safety of debugging personnel.

However, the welding robot disclosed in the above-mentioned publication mainly considers that when the vision welding robot is automatically calibrated, the robot body and related parts are not damaged during the debugging process, the safety of the debugging personnel is also ensured, and the tail gas generated during the welding process is not treated.

In view of the above, it is necessary to develop a device capable of purifying the exhaust gas generated during the welding process, so as to reduce the influence of the exhaust gas on the human body and the environment to a certain extent.

Disclosure of Invention

The invention aims to provide an intelligent welding seam locating system based on machine vision guidance and a welding robot, so as to solve the problem of inaccurate welding seam locating of the existing robot for locating the welding seam in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent welding seam locating system based on machine vision guidance comprises a preprocessing unit, a welding seam identification unit, a coordinate position calculation unit, a welding seam teaching unit and a path planning unit, wherein the welding seam identification unit is installed at the output end of the preprocessing unit;

the welding seam recognition unit comprises a signal processor and a display screen which are electrically connected;

the working method of the system comprises the following steps:

s1, scanning and shooting the surface of the welding piece through a camera in the preprocessing unit, and converting the detected target into an image signal through a picture collector;

s2, converting the image signal into a digital signal through the processing of a signal processor in the welding seam identification unit, and finally displaying the digital signal on a display screen in the welding seam identification unit so as to identify the welding seam on the welding piece;

s3, performing image processing on the welding seam image of the workpiece to be welded through the welding seam identification unit and calculating the coordinates of the initial position and the final position of the welding seam;

s4, forming welding seam teaching information through the coordinates of the key point position obtained through calculation of S3, and guiding the tail end of the welding gun of the robot to move to the position to be welded;

and S5, establishing a medium plate welding operation instruction library through S2 and S3, and automatically generating a complete robot motion control instruction and a complete operation execution instruction based on the autonomous motion planning result by calling corresponding instructions in the instruction library.

Preferably, a workbench is installed on the top of the base, support frames are installed on the outer walls of two sides of the workbench, connecting rods which are arranged in the front and back are installed on the surfaces, close to each other, of the two groups of support frames, a connecting plate is installed at the bottom of one group of support frames and is in a concave shape, a servo motor is installed on the inner wall of the outer wall of one side of the connecting plate, a reciprocating lead screw is installed at the output end of the servo motor, one end of the reciprocating lead screw is connected with the outer wall of one side of the other group of support frames, the reciprocating lead screw is located in the middle of the two groups of connecting rods, sliding sleeves are installed on the outer surfaces of the two groups of connecting rods and the reciprocating lead screw in a sliding mode, a storage box is installed on the outer surface of the sliding sleeves, sliding grooves which are symmetrically arranged are arranged at the bottom of the storage box, object placing blocks are installed in the two groups of sliding grooves in a sliding mode and are in an I shape, and a micro industrial camera is installed at the top of one group of object placing blocks, the hydraulic push rods of symmetrical arrangement are installed to the back wall of storage tank, and the one end of two sets of hydraulic push rods all laminates with two sets of backs of putting the thing piece mutually, and the light that CCD camera and front and back were arranged is installed to the bottom of storage tank, and two sets of lights and CCD camera are located the centre of two sets of spouts, and the CCD camera is located the centre of two sets of lights.

Preferably, the connector is installed at the bottom of the other group of the object placing blocks, the ultrasonic flaw detector main body and the sound emission sensor are installed at the bottom of the connector, the ultrasonic flaw detector main body is located on one side of the sound emission sensor, the light emitting diode is installed on the front face of the connector, and the light emitting diode is electrically connected with the ultrasonic flaw detector main body and the sound emission sensor.

Preferably, the front of workstation is provided with the notch, the diapire slidable mounting of workstation has the connecting block, first hydraulic pump is installed in the front of connecting block, first telescopic link is installed to the output of first hydraulic pump, and first telescopic link is located the inside of notch, the carrier seat is installed to the one end of first telescopic link, and the carrier seat is located the place ahead of workstation, the reel is installed at the top of carrier seat, the robot main part is installed at the top of reel, the back mounted of robot main part has the purifying box, embedded negative ion purification ware is installed at the top of purifying box, the internally mounted of purifying box has filter plate and air exhauster, filter plate is located the centre of negative ion purification ware and air exhauster, the back through mounting of purifying box has the exhaust column, and the suction nozzle is installed to the one end of exhaust column.

Preferably, the rotating motor is installed on the bottom wall of the bearing seat, and the output end of the rotating motor is connected with the bottom end of the shaft disc.

Preferably, a control box is installed at the bottom of one group of the support frame, a display screen and a control panel are installed on the front face of the control box, and the display screen is located above the control panel.

Preferably, first loading board is installed at the top of base, and first loading board is located one side of workstation, one side outer wall of first loading board runs through and is provided with the thing groove of putting that arranges from top to bottom, the width that the thing groove was put to the top is greater than the width that the thing groove was put to the below, the inside slidable mounting that the thing groove was put to the below has the second loading board, and the second loading board is "L" font, the third hydraulic pump is installed at the top of second loading board, the third telescopic link is installed to the output of third hydraulic pump, and the one end that the third telescopic link is located the inside third telescopic link that the thing groove was put to the top is connected with one side outer wall of bearing the seat.

Preferably, the support column is installed at the top of robot main part, and the top of support column is installed and is put the thing board, puts the bottom of thing board and installs the second hydraulic pump, and the second telescopic link is installed to the output of second hydraulic pump, and the second telescopic link runs through the top of robot main part, and the welder main part is installed to the bottom of second telescopic link, and the welder main part is located the rear of suction nozzle.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, by installing the sliding grooves, the hydraulic push rods, the object placing blocks, the miniature industrial camera, the CCD camera and the illuminating lamp, the servo motor is started firstly, so that the reciprocating screw rod is driven to rotate, the storage box can be driven to move under the action of the sliding sleeve, the CCD camera can be driven to scan a welding piece on the workbench in the moving process of the storage box, when the CCD camera scans the welding piece, the position of the storage box is adjusted, then one group of hydraulic push rods are started, so that the miniature industrial camera on one group of object placing blocks is driven to move in one group of sliding grooves, and further the position of a welding seam can be further confirmed by the miniature industrial camera, so that the efficiency of positioning the welding seam is improved.

2. According to the invention, the connector, the ultrasonic flaw detector main body, the sound emission sensor and the light emitting diode are installed, after welding of a seam is completed, the other group of hydraulic push rods are started, then the connector on the other group of object placing blocks is driven to move in the sliding groove, then the ultrasonic flaw detector main body and the sound emission sensor can detect the surface of a welding piece, and when the quality of the welding seam of the welding piece is unqualified, the light emitting diode is lighted up to remind a worker to perform further treatment.

3. The invention firstly fixes the exhaust pipe on the robot main body before welding by installing the purifying box, the negative ion purifier, the filter screen plate, the exhaust fan and the suction nozzle. Then start the inside air exhauster of purifying box, then inhale the inside of purifying box through the suction nozzle with the gas etc. that produce among the welding process, then discharge after its inside anion purification ware and filter plate evolve, can reduce the influence of the tail gas that produces when welding to the human body of air to a certain extent.

Drawings

FIG. 1 is a flow chart of the present invention for locating a weld;

FIG. 2 is an overall workflow diagram of the present invention;

FIG. 3 is a flow chart of a weld positioning algorithm of the present invention;

FIG. 4 is a schematic view of the overall structure of the present invention;

FIG. 5 is a schematic view of the assembled structure of the chute and the connector of the present invention;

FIG. 6 is a schematic view of an assembly structure of the connecting rod of the present invention;

FIG. 7 is a plan view of the carrier of the present invention;

fig. 8 is an assembly structure diagram of the notch of the present invention.

In the figure: 1. a base; 101. a work table; 102. a support frame; 2. a connecting rod; 201. a connecting plate; 202. a servo motor; 203. a reciprocating screw rod; 204. a sliding sleeve; 205. a storage box; 3. a chute; 301. a hydraulic push rod; 302. placing the object blocks; 303. a miniature industrial camera; 304. a CCD camera; 305. an illuminating lamp; 4. a control box; 5. a notch; 501. connecting blocks; 502. a first hydraulic pump; 503. a first telescopic rod; 6. a bearing seat; 601. rotating the motor; 602. a robot main body; 7. a purification box; 701. a negative ion purifier; 702. a filter screen plate; 703. an exhaust fan; 704. a suction nozzle; 8. a storage plate; 801. a second hydraulic pump; 802. a second telescopic rod; 803. a welding gun main body; 9. a first bearing plate; 901. a storage groove; 902. a second carrier plate; 903. a third hydraulic pump; 904. a third telescopic rod; 10. a connector; 1001. an ultrasonic flaw detector main body; 1002. an acoustic emission sensor; 1003. a light emitting diode.

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.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Example one

Referring to fig. 4 and 6, an embodiment of the present invention: a welding robot for an intelligent welding seam locating system based on machine vision guiding comprises a base 1, connecting rods 2, a sliding groove 3 and a control box 4, wherein a workbench 101 is installed at the top of the base 1, supporting frames 102 are installed on the outer walls of two sides of the workbench 101, the connecting rods 2 which are arranged in the front and back are installed on the surfaces, close to each other, of the two groups of supporting frames 102, a connecting plate 201 is installed at the bottom of one group of supporting frames 102, the connecting plate 201 is in a concave shape, a servo motor 202 is installed on the inner wall of the outer wall of one side of the connecting plate 201, a reciprocating screw rod 203 is installed at the output end of the servo motor 202, one end of the reciprocating screw rod 203 is connected with the outer wall of one side of the other group of supporting frames 102, the reciprocating screw rod 203 is located in the middle of the two groups of connecting rods 2, sliding sleeves 204 are installed on the outer surfaces of the two groups of connecting rods 2 and the reciprocating screw rod 203 in a sliding mode, and a storage box 205 is installed on the outer surface of the sliding sleeves 204, the bottom of storage tank 205 is provided with symmetrical arrangement's spout 3, the equal slidable mounting in inside of two sets of spouts 3 puts thing piece 302, and it is "worker" font to put thing piece 302, wherein a set of top of putting thing piece 302 is installed and is miniature industrial camera 303, symmetrical arrangement's hydraulic push rod 301 is installed to the back wall of storage tank 205, and the one end of two sets of hydraulic push rod 301 all laminates with the back of two sets of thing pieces 302 of putting, CCD camera 304 and the light 305 of arranging around are installed to the bottom of storage tank 205, and two sets of light 305 and CCD camera 304 are located the centre of two sets of spouts 3, CCD camera 304 is located the centre of two sets of light 305, wherein the bottom of a set of support frame 102 is installed control box 4, display screen and control panel are installed to the front of control box 4, and the display screen is located the top of controlling the panel.

Specifically, after the weldment is placed on the workbench 101, the servo motor 202 on the connecting plate 201 is started, so as to drive the reciprocating screw rod 203 to rotate, further enable the sliding sleeve 204 to slide on the connecting rod 2 and the reciprocating screw rod 203, further enable the storage box 205 to move above the weldment, and along with the continuous movement of the storage box 205, the illuminating lamp 305 is turned on, at the moment, the surface of the weldment can be shot by the CCD camera 304, the shot pictures are displayed on the display screen on the control box 4, when the welding seam is found, one group of hydraulic push rods 301 is started, further one group of object placing blocks 302 is driven to move in the sliding groove 3, further the micro industrial camera 303 can be driven to accurately find the position of the welding seam, and the coordinate position of the welding seam is further determined.

Example two

As shown in fig. 5, an intelligent welding seam locating system based on machine vision guidance and a welding robot comprise a connector 10, the connector 10 is installed at the bottom of another group of object placing blocks 302, an ultrasonic flaw detector main body 1001 and an acoustic emission sensor 1002 are installed at the bottom of the connector 10, the ultrasonic flaw detector main body 1001 is located on one side of the acoustic emission sensor 1002, a light emitting diode 1003 is installed on the front face of the connector 10, and the light emitting diode 1003 is electrically connected with the ultrasonic flaw detector main body 1001 and the acoustic emission sensor 1002.

Specifically, after welding, another group of hydraulic push rods 301 is started to drive the ultrasonic flaw detector main body 1001 and the acoustic emission sensor 1002 on the other group of object placing blocks 302 to perform quality detection on the weld joint, so that whether the weld joint quality is qualified or not is judged by the defects of air holes, depressions and the like in the weld joint, and when the weld joint is unqualified, the light-emitting diode 1003 lights up, so that a worker is reminded that the weld joint is unqualified, and convenience is brought to the subsequent worker.

EXAMPLE III

As shown in fig. 7 and 8, an intelligent welding seam locating system based on machine vision guidance and a welding robot comprise a notch 5, a bearing seat 6, a purifying box 7, a storage plate 8 and a first bearing plate 9, the notch 5 is arranged on the front surface of a workbench 101, a connecting block 501 is slidably mounted on the bottom wall of the workbench 101, a first hydraulic pump 502 is mounted on the front surface of the connecting block 501, a first telescopic rod 503 is mounted at the output end of the first hydraulic pump 502, the first telescopic rod 503 is located inside the notch 5, the bearing seat 6 is mounted at one end of the first telescopic rod 503, the bearing seat 6 is located in front of the workbench 101, a shaft disc is mounted at the top of the bearing seat 6, a robot main body 602 is mounted at the top of the shaft disc, the purifying box 7 is mounted at the back surface of the robot main body 602, an embedded negative ion purifier 701 is mounted at the top of the purifying box 7, a filter screen 702 and an exhaust fan 703 are mounted inside the purifying box 7, the filter screen plate 702 is positioned between the negative ion purifier 701 and the exhaust fan 703, the back of the purifying box 7 is provided with an exhaust pipe in a penetrating way, one end of the exhaust pipe is provided with a suction nozzle 704, the bottom wall of the bearing seat 6 is provided with a rotating motor 601, the output end of the rotating motor 601 is connected with the bottom end of the shaft disc, the top of the base 1 is provided with a first bearing plate 9, the first bearing plate 9 is positioned at one side of the workbench 101, the outer wall of one side of the first bearing plate 9 is provided with a vertically arranged object placing groove 901 in a penetrating way, the width of the upper object placing groove 901 is larger than that of the lower object placing groove 901, the inner part of the lower object placing groove 901 is provided with a second bearing plate 902 in a sliding way, the second bearing plate 902 is L-shaped, the top of the second bearing plate 902 is provided with a third hydraulic pump 903, the output end of the third hydraulic pump 903 is provided with a third telescopic rod 904, and the third telescopic rod 904 is positioned in the upper object placing groove 901 and is connected with the outer wall of one side of the bearing seat 6, the support column is installed at the top of robot main part 602, and the top of support column is installed and is put thing board 8, puts the bottom of thing board 8 and installs second hydraulic pump 801, and second telescopic link 802 is installed to second hydraulic pump 801's output, and second telescopic link 802 runs through the top of robot main part 602, and welder main part 803 is installed to the bottom of second telescopic link 802, and welder main part 803 is located the rear of suction nozzle 704.

Specifically, the robot body 602 on the bearing seat 6 is controlled according to the actual position of the welding seam, when the robot body 602 needs to be moved back and forth, the first hydraulic pump 502 on the connecting block 501 is started, so as to drive the first telescopic rod 503 to push the bearing seat 6 to move back and forth, at this time, the second bearing plate 902 slides in the storage slot 901 below the first bearing plate 9 along with the movement of the bearing seat 6, and when the bearing seat 6 needs to be moved left and right, the third hydraulic pump 903 is started, so as to drive the third telescopic rod 904 to push the bearing seat 6 to move left and right, after the robot body 602 is driven to a fixed position, the second hydraulic pump 801 on the storage plate 8 is started, so as to drive the welding gun body 803 to move up and down under the action of the second telescopic rod 802, so as to enable the welding gun body 803 to weld the welding seam on the welding part, in this process, the exhaust fan 703 in the purifying box 7 is started, then, the gas generated in the welding process is extracted into the purifying box 7 through the suction nozzle 704, and the sucked gas is filtered through the internal negative ion purifier 701 and the filter screen 702, so that the influence of the gas generated in the welding process on the human body and the environment can be reduced to a certain extent.

As shown in fig. 1, fig. 2 and fig. 3, an intelligent welding seam locating system based on machine vision guidance comprises a welding seam identification unit installed at the output end of a preprocessing unit, a coordinate position calculation unit installed at the output end of the welding seam identification unit, a welding seam demonstration unit installed at the output end of the coordinate position calculation unit, and a path planning unit installed at the output end of the welding seam demonstration unit;

the working method of the system comprises the following steps:

Specifically, the welding seam teaching information is formed by carrying out image processing on a welding seam image of a workpiece to be welded and calculating coordinates of the initial position and the final position of the welding seam. The key point position spatial position coordinates are processed into robot teaching information through the upper computer, the tail end of a welding gun of the robot is guided to move to a position to be welded, the welding robot has the self-adaptive capacity of the spatial position of a workpiece to be welded, and the robot vision intelligent welding seam locating of the welding robot is achieved.

The working principle is as follows: firstly, a weldment is placed on a workbench 101, then a servo motor 202 is started, so that a reciprocating screw rod 203 is driven to rotate, further, a storage box 205 can be driven to move left and right above the workbench 101 under the action of a sliding sleeve 204, at the moment, a CCD camera 304 can shoot the surface of the weldment, when a welding seam is found, one group of hydraulic push rods 301 drives one group of object placing blocks 302 to move, and then the position of the welding seam can be further determined through a miniature industrial camera 303;

then the robot main body 602 on the bearing seat 6 is moved according to the actual requirement, when the robot needs to move left and right, the third hydraulic pump 903 is started, so that the carrier 6 can be pushed to move under the action of the third telescopic rod 904, and when the first hydraulic pump 502 is started, the carrier 6 can be pushed back and forth by the first telescopic rod 503, and after the main body 602 of the standby robot moves to a proper position, the rotating motor 601 is started, thereby driving the robot main body 602 to rotate under the action of the shaft disc, further aligning the welding gun main body 803 on the robot main body 602 with the welding seam, then, the welding operation is performed while the suction fan 703 is activated, so that the exhaust gas generated during the welding can be sucked through the suction nozzle 704, the sucked tail gas is purified by the negative ion purifier 701 and the filter screen plate 702 in the purifying box 7, so that the harm of the tail gas is reduced;

and finally, after welding is finished, starting another group of hydraulic push rods 301 to drive the connectors 10 on the other group of object placing blocks 302 to move back and forth above the weldment, so that the weld joint can be detected through the ultrasonic flaw detector main body 1001 and the acoustic emission sensor 1002, and when the weld joint has air holes or is sunken, the light emitting diode 1003 is lighted to remind a worker that the weld joint is unqualified.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an intelligence welding seam system of seeking based on machine vision guide, includes preprocessing unit, welding seam recognition cell, coordinate position calculation unit, welding seam teaching unit and path planning unit, its characterized in that: the output end of the preprocessing unit is provided with a welding seam identification unit, the output end of the welding seam identification unit is provided with a coordinate position calculation unit, the output end of the coordinate position calculation unit is provided with a welding seam teaching unit, and the output end of the welding seam teaching unit is provided with a path planning unit;

the working method of the system comprises the following steps:

2. The welding robot for the intelligent welding seam locating system based on the machine vision guidance according to the claim 1, which comprises a base (1), a connecting rod (2) and a sliding chute (3), and is characterized in that: the top of the base (1) is provided with a workbench (101), the outer walls of two sides of the workbench (101) are provided with support frames (102), the surfaces of two groups of support frames (102) which are close to each other are provided with connecting rods (2) which are arranged in the front and back, the bottom of one group of support frames (102) is provided with a connecting plate (201), the connecting plate (201) is in a concave shape, the inner wall of the outer wall of one side of the connecting plate (201) is provided with a servo motor (202), the output end of the servo motor (202) is provided with a reciprocating lead screw (203), one end of the reciprocating lead screw (203) is connected with the outer wall of one side of the other group of support frame (102), the reciprocating lead screw (203) is positioned in the middle of the two groups of connecting rods (2), the outer surfaces of the two groups of connecting rods (2) and the reciprocating lead screw (203) are both provided with a sliding sleeve (204) in a sliding manner, and the outer surface of the sliding sleeve (204) is provided with a storage box (205), the bottom of storage tank (205) is provided with symmetrical arrangement's spout (3), the equal slidable mounting in inside of two sets of spouts (3) puts thing piece (302), and it is "worker" font to put thing piece (302), wherein a set of top of putting thing piece (302) is installed miniature industrial camera (303), symmetrical arrangement's hydraulic push rod (301) is installed to the back wall of storage tank (205), and the one end of two sets of hydraulic push rod (301) all laminates with the back of two sets of thing pieces (302) of putting, CCD camera (304) and the light (305) of arranging around are installed to the bottom of storage tank (205), and two sets of light (305) and CCD camera (304) are located the centre of two sets of spouts (3), CCD camera (304) are located the centre of two sets of light (305).

3. The welding robot for the intelligent welding seam locating system based on the machine vision guidance as claimed in claim 2, characterized in that: the connector (10) is installed at the bottom of the other group of the object placing blocks (302), the ultrasonic flaw detector main body (1001) and the sound emission sensor (1002) are installed at the bottom of the connector (10), the ultrasonic flaw detector main body (1001) is located on one side of the sound emission sensor (1002), the light emitting diode (1003) is installed on the front face of the connector (10), and the light emitting diode (1003) is electrically connected with the ultrasonic flaw detector main body (1001) and the sound emission sensor (1002).

4. The welding robot for the intelligent welding seam locating system based on the machine vision guidance as claimed in claim 2, characterized in that: the front side of the workbench (101) is provided with a notch (5), the bottom wall of the workbench (101) is slidably provided with a connecting block (501), the front side of the connecting block (501) is provided with a first hydraulic pump (502), the output end of the first hydraulic pump (502) is provided with a first telescopic rod (503), the first telescopic rod (503) is positioned in the notch (5), one end of the first telescopic rod (503) is provided with a bearing seat (6), the bearing seat (6) is positioned in front of the workbench (101), the top of the bearing seat (6) is provided with a shaft disc, the top of the shaft disc is provided with a robot main body (602), the back side of the robot main body (602) is provided with a purifying box (7), the top of the purifying box (7) is provided with an embedded negative ion purifier (701), the inside of the purifying box (7) is provided with a filter screen plate (702) and an exhaust fan (703), the filter screen plate (702) is positioned between the negative ion purifier (701) and the exhaust fan (703), an exhaust pipe is arranged on the back surface of the purifying box (7) in a penetrating way, and a suction nozzle (704) is arranged at one end of the exhaust pipe.

5. The welding robot for the intelligent welding seam locating system based on the machine vision guidance as claimed in claim 4, wherein: bear the diapire of seat (6) and install rotation motor (601), the output that rotates motor (601) is connected with the bottom of reel.

6. The welding robot for the intelligent welding seam locating system based on the machine vision guidance as claimed in claim 2, characterized in that: the control box (4) is installed to the bottom of one set of support frame (102), and display screen and control panel are installed to the front of control box (4), and the display screen is located the top of control panel.

7. The welding robot for the intelligent welding seam locating system based on the machine vision guidance as claimed in claim 2, characterized in that: first loading board (9) is installed at the top of base (1), and first loading board (9) are located one side of workstation (101), one side outer wall of first loading board (9) runs through and is provided with thing groove (901) of putting that arrange from top to bottom, the width that thing groove (901) were put to the top is greater than the width that thing groove (901) were put to the below, the inside slidable mounting that thing groove (901) were put to the below has second loading board (902), and second loading board (902) are "L" font, third hydraulic pump (903) are installed at the top of second loading board (902), third telescopic link (904) are installed to the output of third hydraulic pump (903), and one end that third telescopic link (904) are located inside third telescopic link (904) that thing groove (901) were put to the top is connected with the one side outer wall that bears seat (6).

8. The welding robot for the intelligent welding seam locating system based on the machine vision guidance as claimed in claim 4, characterized in that: the support column is installed at the top of robot main part (602), and thing board (8) are installed at the top of support column, and second hydraulic pump (801) are installed to the bottom of putting thing board (8), and second telescopic link (802) are installed to the output of second hydraulic pump (801), and second telescopic link (802) run through the top of robot main part (602), and welder main part (803) are installed to the bottom of second telescopic link (802), and welder main part (803) are located the rear of suction nozzle (704).