CN213080358U - Robot welding seam autonomous tracking vision sensor - Google Patents
Robot welding seam autonomous tracking vision sensor Download PDFInfo
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- CN213080358U CN213080358U CN202020882134.1U CN202020882134U CN213080358U CN 213080358 U CN213080358 U CN 213080358U CN 202020882134 U CN202020882134 U CN 202020882134U CN 213080358 U CN213080358 U CN 213080358U
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- 238000003466 welding Methods 0.000 title claims abstract description 143
- 230000007246 mechanism Effects 0.000 claims abstract description 36
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- 230000006698 induction Effects 0.000 claims description 18
- 230000004044 response Effects 0.000 claims description 13
- 238000004321 preservation Methods 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052573 porcelain Inorganic materials 0.000 claims description 3
- 230000002940 repellent Effects 0.000 claims description 3
- 239000005871 repellent Substances 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims 1
- 239000000835 fiber Substances 0.000 claims 1
- 229910002804 graphite Inorganic materials 0.000 claims 1
- 239000010439 graphite Substances 0.000 claims 1
- -1 graphite alkene Chemical class 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 11
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 abstract description 9
- 238000009413 insulation Methods 0.000 description 15
- 230000017525 heat dissipation Effects 0.000 description 7
- 238000001914 filtration Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 229910021389 graphene Inorganic materials 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 230000008844 regulatory mechanism Effects 0.000 description 1
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Abstract
The utility model discloses a robot welding seam is from moving tracking vision sensor, including the robot welding body, the robot welding body is including two welder bodies and two send a adjustment mechanism. This robot welding seam is from autotracking vision sensor, reached and realized that robot welding body is carrying out welding work, the main control computer of robot senses behind the temperature that welding gun head work produced through temperature sensor reaches the welding requirement, can directly begin to aim at the welding work piece with the tin wire that send a guiding mechanism to send and weld work, need not to aim at the welding work piece with the tin wire that send a guiding mechanism to send with the welding gun head on the welder body among the prior art earlier, and simultaneously, it is fast to realize not only welding efficiency, and guarantee welding quality, and the pleasing to the eye effect of welding work piece product welding that welds out, current welding mode has been solved, not only welding efficiency is slow, and easily influence welding quality, and the work piece product welding that welds out is not pleasing to the eye problem.
Description
Technical Field
The utility model relates to a robot welding seam is from moving tracking vision sensor especially relates to robot welding technical field.
Background
Robots are all mechanical devices that perform work automatically, including all machines that simulate human behavior or thinking and simulate other creatures, and there are many categories and disputes in the narrow definition of robots, some computer programs even also called robots, and in the modern industry, robots refer to artificial machines that can automatically perform tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits.
As disclosed in chinese patent literature, a passive visual sensor based on autonomous welding robot seam tracking (application number: cn201110053264.x) as shown in fig. 1, "includes: installing support, system's shell, camera, dimming filtering system, light reflection system and send a regulatory mechanism, wherein: the camera and the light-reducing and light-filtering system are coaxially arranged on the inner wall of the system shell in the welding process and transmit welding seam image information in the welding process, the light-reducing and light-filtering system is driven by a motor transmission mechanism in the non-welding process and realizes guidance and calibration before welding, the light reflection system is arranged on the inner wall of the system shell and is connected with the light-reducing and light-filtering system and acquires a welding image, the mounting bracket is arranged at the tail end of the robot, and the wire feeding adjusting mechanism is fixedly arranged on a welding gun, the temperature of the welding gun head on the welding gun in the prior art cannot be accurately mastered, so that the robot is forced to align the welding gun head on the welding gun in the prior art with a tin wire fed by a wire feeding adjusting mechanism to a welding workpiece when welding is carried out, and the welding gun head on the welding gun can be welded only after the temperature of the welding gun head comes up.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome prior art's defect, provide a robot welding seam is from traffic tracking vision sensor.
In order to solve the technical problem, the utility model provides a following technical scheme:
the utility model relates to a robot welding seam is visual sensor independently trailed, including the robot welding body, the robot welding body is including two welder bodies and two send a adjustment mechanism, and two welder bodies and two send a adjustment mechanism to be a set of, two with a welder body collocation one send a adjustment mechanism respectively a side surface of welder body with two send a adjustment mechanism's a side fixed surface to be connected, two the lower surface of welder body all is provided with welding temperature response mechanism, and welding temperature response mechanism including the response box, two the lower surface of welder body all with two the last fixed surface of response box is connected.
Preferably, welding gun heads are arranged on the lower surfaces of the two welding gun bodies, heat insulation layers are fixedly bonded on the inner walls of the two induction boxes, and soft porcelain is arranged inside the two heat insulation layers;
through above-mentioned technical scheme, response box uses with the heat preservation cooperation, carries out heat retaining effect to the response box.
Preferably, a first heat conduction layer and a second heat conduction layer are fixedly bonded to the inner top wall and the inner bottom wall of the two heat insulation layers respectively, graphene is arranged inside each of the two first heat conduction layers, carbon fibers are arranged inside each of the two second heat conduction layers, and through holes are formed in the upper surfaces of the two induction boxes;
through above-mentioned technical scheme, the heat preservation plays fixed effect to first heat-conducting layer and second heat-conducting layer respectively.
Preferably, the two through holes penetrate through the two first heat conduction layers and the two second heat conduction layers and then extend to the lower surface of the induction box, the two welding gun heads penetrate through the two through holes and extend to the lower surface of the induction box, a fixed block is fixedly connected to the inner wall of one side of the heat insulation layer, heat dissipation holes are formed in the inner wall of the other side of the two heat insulation layers, and the inner wall of one side of each heat dissipation hole penetrates through and extends to the surface of one side of the induction box;
through above-mentioned technical scheme, the diameter of louvre is little to effectively avoid the temperature that welding gun head work produced to diffuse to the air through the louvre fast.
Preferably, temperature sensors are fixedly mounted on the opposite surfaces of the two fixed blocks, the two temperature sensors are WZP-187-3PBO in type, wire holes are formed in the two induction boxes close to the repellent surfaces of the two fixed blocks, the inner walls of one sides of the two wire holes penetrate through the two heat insulation layers and then extend into the heat insulation layers, and transmission boxes are fixedly mounted on the repellent surfaces of the two welding gun bodies;
through the technical scheme, the fixing block has the positioning and fixing effects on the temperature sensor.
Preferably, a single chip microcomputer module is fixedly mounted on the inner wall of one side of each of the two transmission boxes, and the single chip microcomputer module, the temperature sensor, the welding gun body and the wire feeding adjusting mechanism are electrically connected with the robot welding body;
according to the technical scheme, the temperature sensor is arranged to measure the temperature generated by the work of the welding gun head and transmit the temperature to the single chip microcomputer module, the temperature is processed by the single chip microcomputer module and then is transmitted to the main control computer of the external robot, and the temperature generated by the work of the welding gun head can be accurately mastered through the main control computer of the robot.
Preferably, the upper surfaces and the lower surfaces of the two transmission boxes are respectively provided with a first mounting hole and a second mounting hole, the first mounting hole is connected with the transmission boxes and is positioned on the upper surfaces of the transmission boxes, the second mounting hole is connected with the transmission boxes and is positioned on the lower surfaces of the transmission boxes, the inner walls of the two first mounting holes are fixedly sleeved with sealing rings, and the sealing rings are made of rubber materials;
through above-mentioned technical scheme, set up the sealing ring and carry out sealed effect to the wire that passes first mounting hole, carry out dirt-proof effect to the transmission box.
The utility model discloses the beneficial effect who reaches is:
the robot welding seam autonomous tracking vision sensor is characterized in that welding temperature sensing mechanisms are arranged on the lower surfaces of two welding gun bodies, each welding temperature sensing mechanism comprises a sensing box, the lower surfaces of the two welding gun bodies are fixedly connected with the upper surfaces of the two sensing boxes, when the robot welding bodies are welded, a main control computer of a robot can directly start to align a tin wire sent by a wire feeding adjusting mechanism with a welding workpiece to weld after the temperature generated by the work of the welding gun heads is sensed by the temperature sensors to meet welding requirements, and the welding gun heads on the welding gun bodies and the tin wire sent by the wire feeding adjusting mechanism in the prior art are not required to align the welding workpiece with the welding gun head in the prior art, meanwhile, the robot welding seam autonomous tracking vision sensor has the advantages of high welding efficiency, high welding quality and attractive welding effect of the welded workpiece products, and solves the existing welding mode, the welding efficiency is low, the welding quality is easily influenced, and the welded workpiece product is not attractive in welding.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a prior art schematic of the structure of the present invention;
FIG. 2 is a perspective view of the welding body structure of the robot of the present invention;
FIG. 3 is a structural cross-sectional view of the welding gun body of the present invention;
fig. 4 is an enlarged view of the structure at a in fig. 3 according to the present invention.
As shown in the figure: 1. welding the body by a robot; 2. a welding gun body; 3. a wire feed adjusting mechanism; 4. an induction box; 41. Welding gun heads; 42. a heat-insulating layer; 43. a first thermally conductive layer; 44. a second thermally conductive layer; 45. a through hole; 46. a fixed block; 47. heat dissipation holes; 48. a temperature sensor; 49. a wire guide hole; 410. a transmission box; 411. a single chip module; 412. a first mounting hole; 413. a second mounting hole; 414. and (4) a sealing ring.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
As shown in fig. 2-4, an autonomous tracking vision sensor for robot welding seam includes a robot welding body 1, the robot welding body 1 includes two welding gun bodies 2 and two wire feeding adjusting mechanisms 3, and the two welding gun bodies 2 and the two wire feeding adjusting mechanisms 3 are in a group of one wire feeding adjusting mechanism 3 matched with one welding gun body 2, a side surface of the two welding gun bodies 2 is fixedly connected with a side surface of the two wire feeding adjusting mechanisms 3, welding temperature sensing mechanisms are arranged on lower surfaces of the two welding gun bodies 2, and each welding temperature sensing mechanism includes a sensing box 4, and lower surfaces of the two welding gun bodies 2 are fixedly connected with upper surfaces of the two sensing boxes 4.
Further, welding gun heads 41 are arranged on the lower surfaces of the two welding gun bodies 2, heat insulation layers 42 are fixedly bonded on the inner walls of the two induction boxes 4, and soft porcelain is arranged inside the two heat insulation layers 42;
further, the induction box 4 is matched with the heat-insulating layer 42 for use, so that the induction box 4 is subjected to heat-insulating effect.
Furthermore, a first heat conduction layer 43 and a second heat conduction layer 44 are fixedly bonded to the inner top wall and the inner bottom wall of the two heat insulation layers 42 respectively, graphene is arranged inside the two first heat conduction layers 43, carbon fibers are arranged inside the two second heat conduction layers 44, and through holes 45 are formed in the upper surfaces of the two induction boxes 4;
further, the insulating layer 42 has a fixing effect on the first conductive layer 43 and the second conductive layer 44, respectively.
Further, the two through holes 45 penetrate through the two first heat conduction layers 43 and the two second heat conduction layers 44 and then extend to the lower surface of the induction box 4, the two welding gun heads 41 penetrate through the two through holes 45 and extend to the lower surface of the induction box 4, the inner wall of one side of the heat insulation layer 42 is fixedly connected with a fixing block 46, the inner wall of the other side of the two heat insulation layers 42 is provided with heat dissipation holes 47, and the inner wall of one side of each of the two heat dissipation holes 47 penetrates through and extends to the surface of one side of the induction box 4;
further, the diameter of the heat dissipation holes 47 is small, so that the temperature generated by the operation of the torch head 41 is effectively prevented from being quickly diffused into the air through the heat dissipation holes 47.
Furthermore, temperature sensors 48 are fixedly mounted on the opposite surfaces of the two fixing blocks 46, the two temperature sensors 48 are made of Shanghai pine guide plates WZP-187-3PBO, wire holes 49 are formed in the two induction boxes 4 close to the surfaces of the two fixing blocks 46 which repel each other, the inner walls of one sides of the two wire holes 49 penetrate through the two heat insulation layers 42 and then extend into the heat insulation layers 42, and the transmission boxes 410 are fixedly mounted on the surfaces of the two welding gun bodies 2 which repel each other;
further, the fixing block 46 has a positioning and fixing effect on the temperature sensor 48.
Further, the inner walls of one sides of the two transmission boxes 410 are fixedly provided with the single chip microcomputer module 411, and the single chip microcomputer module 411, the temperature sensor 48, the welding gun body 2 and the wire feeding adjusting mechanism 3 are electrically connected with the robot welding body 1;
further, a temperature sensor 48 is arranged to measure the temperature generated by the operation of the welding gun head 41 and transmit the temperature to the single chip microcomputer module 411, the temperature is processed by the single chip microcomputer module 411 and then is transmitted to an external main control computer of the robot, and the temperature generated by the operation of the welding gun head 41 is accurately mastered through the main control computer of the robot.
Furthermore, the upper surface and the lower surface of the two transmission boxes 410 are respectively provided with a first mounting hole 412 and a second mounting hole 413, the first mounting hole 412 is connected with the transmission boxes 410 and is located on the upper surface of the transmission boxes 410, the second mounting hole 413 is connected with the transmission boxes 410 and is located on the lower surface of the transmission boxes 410, the inner walls of the two first mounting holes 412 are fixedly sleeved with sealing rings 414, and the sealing rings 414 are made of rubber materials;
further, the sealing ring 414 is provided to seal the wires passing through the first mounting hole 412, thereby preventing dust from being applied to the pod 410.
The welding temperature sensing mechanisms are arranged on the lower surfaces of the two welding gun bodies 2 and comprise the sensing boxes 4, the lower surfaces of the two welding gun bodies 2 are fixedly connected with the upper surfaces of the two sensing boxes 4, so that when the welding robot 1 performs welding operation, a main control computer of a robot senses that the temperature generated by the operation of the welding gun head 41 reaches the welding requirement through the temperature sensor 48, the welding operation can be directly started to be aligned with a tin wire sent by the wire feeding adjusting mechanism 3 to perform welding operation, the welding gun head 41 on the welding gun body 2 and the tin wire sent by the wire feeding adjusting mechanism 3 in the prior art are not required to be aligned with the welding workpiece, meanwhile, the welding efficiency is high, the welding quality is ensured, the welded workpiece product has the attractive welding effect, the existing welding mode is solved, the welding efficiency is low, but also easily influences the welding quality, and the welded workpiece product is not beautiful.
The working principle is as follows: the robot welding body 1 is connected with an external robot sixth shaft and is electrically connected with a power supply system of the robot, the robot controls and starts the left and right welding gun bodies 2 of the robot welding body 1 to work, the welding gun heads 41 connected with the lower surfaces of the left and right welding gun bodies 2 are heated, heat generated by the work of the welding gun heads 41 is conducted to the surface of a temperature sensor 48 through a first heat conduction layer 43 and a second heat conduction layer 44 respectively connected with the inner top wall and the inner bottom wall of a heat insulation layer 42, the temperature sensor 48 is arranged to measure the temperature generated by the work of the welding gun heads 41 and transmit the temperature to a single chip microcomputer module 411, the temperature is processed by the single chip microcomputer module 411 and then transmitted to a main control computer of the external robot, the accurate control of the temperature generated by the work of the welding gun heads 41 is realized through the main control computer of the robot, and therefore, when the robot welding body 1 performs welding work, the main control computer of the robot senses After the welding is required, the welding operation can be directly started to be performed by aligning the welding gun head 41 on the welding gun body 2 with the tin wire fed by the wire feeding adjusting mechanism 3, and the welding operation is not required to be performed by aligning the welding gun head 41 on the welding gun body 2 with the tin wire fed by the wire feeding adjusting mechanism 3.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (7)
1. The utility model provides a robot welding seam is from moving tracking vision sensor, includes robot welding body (1), its characterized in that: robot welding body (1) is including two welder bodies (2) and two send a adjustment mechanism (3), and two welder bodies (2) send a adjustment mechanism (3) with one welder body (2) collocation one with two and be a set of, two a side surface of welder body (2) respectively with two send a side fixed surface of adjustment mechanism (3) to be connected, two the lower surface of welder body (2) all is provided with welding temperature induction mechanism, and welding temperature induction mechanism is including response box (4), two the lower surface of welder body (2) all with two the last fixed surface of response box (4) is connected.
2. The robotic weld autonomous tracking vision sensor of claim 1, wherein: the lower surface of the two welding gun bodies (2) is provided with a welding gun head (41), the inner walls of the two induction boxes (4) are fixedly bonded with heat preservation layers (42), and soft porcelain is arranged inside the heat preservation layers (42).
3. The robotic weld autonomous tracking vision sensor of claim 2, characterized in that: two the interior roof and the interior diapire of heat preservation (42) are fixed respectively and are bonded first heat-conducting layer (43) and second heat-conducting layer (44), two the inside of first heat-conducting layer (43) all is provided with graphite alkene, two the inside of second heat-conducting layer (44) all is provided with carbon fibre, two through-hole (45) have all been seted up to the upper surface of response box (4).
4. The robotic weld autonomous tracking vision sensor of claim 3, characterized in that: two through-hole (45) all link up two extend to the lower surface of response box (4) behind first heat-conducting layer (43) and the second heat-conducting layer (44), two weld rifle head (41) through two through-hole (45) all link up and extend to the lower surface of response box (4), the equal fixedly connected with fixed block (46) of one side inner wall of heat preservation (42), two louvre (47), two have all been seted up to the opposite side inner wall of heat preservation (42) one side inner wall of louvre (47) all link up and extend to a side surface of response box (4).
5. The robotic weld autonomous tracking vision sensor of claim 4, wherein: two equal fixed mounting in relative surface of fixed block (46) has temperature sensor (48), two temperature sensor (48)'s model is WZP-187-3PBO, two response box (4) are close to two wire guide (49) have all been seted up on fixed block (46) repellent surface, two one side inner wall of wire guide (49) all link up two extend to the inside of heat preservation (42) behind heat preservation (42), two equal fixed mounting in surface that welder body (2) repel has transmission box (410).
6. The robotic weld autonomous tracking vision sensor of claim 5, wherein: two equal fixed mounting of one side inner wall of transmission box (410) has single chip module (411), single chip module (411) and temperature sensor (48), welder body (2), send a adjustment mechanism (3) all with robot welding body (1) electric connection.
7. The robotic weld autonomous tracking vision sensor of claim 5, wherein: two first mounting hole (412) and second mounting hole (413) have been seted up respectively to the upper surface and the lower surface of transmission box (410), first mounting hole (412) with transmission box (410) are connected to be located the upper surface of transmission box (410), second mounting hole (413) with transmission box (410) are connected to be located the lower surface of transmission box (410), two the inner wall of first mounting hole (412) all fixed cover has been connect sealing ring (414), the material of sealing ring (414) is made for rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020882134.1U CN213080358U (en) | 2020-05-24 | 2020-05-24 | Robot welding seam autonomous tracking vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020882134.1U CN213080358U (en) | 2020-05-24 | 2020-05-24 | Robot welding seam autonomous tracking vision sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213080358U true CN213080358U (en) | 2021-04-30 |
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ID=75619022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020882134.1U Expired - Fee Related CN213080358U (en) | 2020-05-24 | 2020-05-24 | Robot welding seam autonomous tracking vision sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213080358U (en) |
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2020
- 2020-05-24 CN CN202020882134.1U patent/CN213080358U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210430 |