CN215091566U - Robot self-adaptive welding system capable of being guided in real time on line - Google Patents
Robot self-adaptive welding system capable of being guided in real time on line Download PDFInfo
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- CN215091566U CN215091566U CN202023043788.4U CN202023043788U CN215091566U CN 215091566 U CN215091566 U CN 215091566U CN 202023043788 U CN202023043788 U CN 202023043788U CN 215091566 U CN215091566 U CN 215091566U
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Abstract
The utility model provides a pair of online real-time robot self-adaptation welding system who guides, including multiaxis robot, industrial computer, vision sensor, the fixed welder that is provided with of multiaxis robot one end, vision sensor installs on welder, vision sensor with multiaxis robot respectively with the industrial computer is connected. The utility model discloses a robot self-adaptation welding system of online real-time guide, treat the current image information of welding workpiece through the real-time collection of vision sensor, current actual welding seam position in the welding workpiece can be calculated according to current image information and the multiaxis robot current position that prestores, the real-time tracking to the welding seam position has been realized, the welding seam that the welding workpiece was treated according to current actual welding seam position to the multiaxis robot welds, the welding efficiency of welding workpiece has been improved, whole welding process is intelligent completely, the cost of labor has been saved.
Description
Technical Field
The utility model relates to a welding field especially relates to an online real-time robot self-adaptation welding system who guides.
Background
With the rapid development of manufacturing industry in recent years, the welding requirement is continuously expanded and the welding process is continuously promoted, so that the welding technology is widely applied. The traditional welding work is mainly finished manually or the robot is controlled to weld a welding workpiece manually by moving the position of the robot. The traditional work piece welding process that needs artifical participation requires high to artifical operation experience, the promotion of cost of labor, and needs the manual work to constantly do repetitive work, leads to welding workpiece's welding efficiency lower.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide an online real-time guiding robot self-adaptation welding system, it can solve the problem that the traditional workpiece welding process that needs artifical participation needs the manual work of constantly doing repeatability, leads to the lower problem of welding workpiece's welding efficiency.
The purpose of the utility model is realized by adopting the following technical scheme:
a robot self-adaptive welding system with online real-time guidance comprises a multi-axis robot, an industrial personal computer and a visual sensor, wherein a welding gun is fixedly arranged at one end of the multi-axis robot, the visual sensor is installed on the welding gun, and the visual sensor and the multi-axis robot are respectively connected with the industrial personal computer;
the industrial personal computer sends position information of a workpiece to be welded, which is positioned on the working platform, to the multi-axis robot, the multi-axis robot controls the welding gun to move to a position corresponding to the position information of the workpiece to be welded according to the position information of the workpiece to be welded, the vision sensor collects current image information of the workpiece to be welded in real time, the vision sensor sends the current image information to the industrial personal computer, the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, the industrial personal computer calculates the welding seam position of the workpiece to be welded according to the welding seam position and the prestored current position of the multi-axis robot, the industrial personal computer sends the current actual welding seam position to the multi-axis robot according to a position request instruction sent by the multi-axis robot, and the multi-axis robot welds the weld of the workpiece to be welded according to the current actual weld position.
Further, the vision sensor includes a housing, a camera, and a line laser, both the camera and the line laser being placed within the housing.
Further, the shell includes the main casing body and protecting crust, main casing body one side is provided with first laser outlet and first camera lens light mouth, the protecting crust sets up on the side that the main casing body is equipped with first laser outlet and first camera lens light mouth and cover first laser outlet and first camera lens light mouth, the protecting crust sets up second laser outlet, sets up second camera lens light mouth with first camera lens light mouth corresponding position with first laser outlet corresponding position, camera one side with the coaxial correspondence of first camera lens light mouth, line laser one side corresponds with first laser outlet is coaxial respectively.
Furthermore, a front end baffle is arranged on the side wall structure of the protective shell.
Further, the main casing body comprises a casing body and a casing cover, the casing cover is connected with the casing body in a buckling mode, an annular wire groove is formed in the joint of the main casing body and the casing cover, and a sealing ring is arranged in the annular wire groove in a mode.
Further, still include the switch, the switch respectively with the industrial computer, the vision sensor and the multiaxis robot is connected, the switch is used for establishing the industrial computer, the vision sensor and the local area network between the multiaxis robot.
Compared with the prior art, the beneficial effects of the utility model reside in that: the application discloses robot self-adaptation welding system of online real-time guide, current image information of waiting to weld the work piece is gathered in real time through visual sensor, current actual welding seam position in the welding work piece can be calculated according to current image information and the multiaxis robot current position that prestores, real-time tracking to the welding seam position has been realized, the multiaxis robot treats the welding seam of welding the work piece and welds according to current actual welding seam position, the welding efficiency of welding the work piece has been improved, whole welding process is intelligent completely, the cost of labor has been saved.
The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings. The detailed description of the present invention is given by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:
fig. 1 is a schematic view of a partial structure of an online real-time guided robot adaptive welding system according to the present invention;
fig. 2 is a schematic cross-sectional view of a housing in an online real-time guided robot adaptive welding system according to the present invention;
fig. 3 is a schematic view of a shell decomposition structure in an online real-time guided robot adaptive welding system of the present invention;
fig. 4 is a schematic side view of a housing in an online real-time guided robot adaptive welding system according to the present invention;
fig. 5 is a schematic structural diagram of a main housing in an online real-time guided robot adaptive welding system according to the present invention;
fig. 6 is a schematic structural diagram of a protective shell in an online real-time guided robot adaptive welding system according to the present invention;
fig. 7 is a schematic structural diagram of a fixed block in the robot adaptive welding system guided on-line in real time according to the present invention.
In the figure: 10. a vision sensor; 11. a main housing; 111. a housing body; 1111. a first camera lens optical port; 1112. a first laser outlet; 1113. a heat dissipation channel; 1114. an annular wire groove; 1115. an air inlet interface; 112. a housing cover; 12. a protective shell; 121. a second camera lens optical port; 122. a second laser outlet; 123. an air outlet channel; 1231. a first airflow outlet; 1232. a second gas flow outlet; 124. a groove; 125. a fixed block; 1251. a third camera lens optical port; 1252. a third laser outlet; 1253. a protective lens clamping groove; 126. a filter groove; 13. a front end baffle plate; 14. a seal ring; 15. a power interface; 16. a network interface; 20. a welding gun; 30. a multi-axis robot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
As shown in fig. 1-7, an online real-time robot adaptive welding system who guides in this application, including multiaxis robot 30, industrial computer, vision sensor 10 and switch, the fixed welder 20 that is provided with of multiaxis robot 30 one end, vision sensor 10 installs on welder 20, vision sensor 10 with multiaxis robot 30 respectively with the industrial computer is connected, the switch respectively with the industrial computer vision sensor 10 and multiaxis robot 30 connects, the switch is used for establishing the industrial computer vision sensor 10 and the local area network between multiaxis robot 30.
The vision sensor 10 in this embodiment comprises a housing 1, a camera and a line laser, both of which are placed within the housing. The housing 1 comprises a main housing 11 and a protection housing 12, wherein a first laser outlet 1112 and a first camera lens optical port 1111 are disposed on one side of the main housing 11, the protection housing 12 is disposed on the side of the main housing 11 where the first laser outlet 1112 and the first camera lens optical port 1111 are disposed and covers the first laser outlet 1112 and the first camera lens optical port 1111, the protection housing 12 is disposed with a protection lens disposed between the main housing 11 and covers the first laser outlet 1112 and the first camera lens optical port 1111, the protection housing 12 sets a second laser outlet 122 at a position corresponding to the first laser outlet 1112 and sets a second camera lens optical port 121 at a position corresponding to the first camera lens optical port 1111, a heat dissipation channel 1113 is disposed inside the bottom wall of the main housing 11, the protection housing 12 is disposed with an air outlet channel 123, one end of the heat dissipation channel 1113 is communicated with an air inlet 1115 disposed outside the main housing 11, the other end of the heat dissipation channel 1113 is communicated with the air outlet channel 123, a first air outlet 1231 and a second air outlet 1232 are arranged on the air outlet channel 123, the first air outlet 1231 is communicated with the second camera lens optical port 121 on the protective shell 12, and the second air outlet 1232 is communicated with the second laser outlet 122 on the protective shell 12. In this embodiment, the protective shell 12 is provided with a groove 124, a fixed block 125 is fixed in the groove 124, the fixed block 125 is provided with a third laser outlet 1252 and a third camera lens optical port 1251, the third laser outlet 1252 corresponds to the second laser outlet 122, the third camera lens optical port 1251 corresponds to the second camera lens optical port 121, the first laser outlet 1112, the second laser outlet 122 and the third laser outlet 1252 are concentric and coaxial elliptical through holes, and the first camera lens optical port 1111, the second camera lens optical port 121 and the third camera lens optical port 1251 are concentric and coaxial circular through holes. The fixing block 125 is fixedly connected to the main housing 11, and a protective lens engaging groove 1253 for fixing the protective lens is disposed on the fixing block 125. In this embodiment, the side wall of the protective shell 12 located at the second camera lens light opening 121 is provided with a filter groove 126, and a filter is disposed in the filter groove 126. The protective lens clamping groove 1253 is configured as a single opening clamping groove for mounting or dismounting the protective lens.
In this embodiment, a side wall of the protective shell 12 is provided with a front end baffle 13, the front end baffle 13 is a metal baffle, the metal baffle is enclosed on three sides of the front end of the shell close to the welding gun, and only one side of the tracker and the welding gun in the welding advancing direction is open and not enclosed, so that the design is performed to reduce the entering of arc light, welding slag splashing, smoke dust and the like generated from the welding gun muzzle into the front end of the shell during welding. The main housing 11 includes a housing body 111 and a housing cover 112, the housing cover 112 is connected to the housing body 111 by a snap fit, the first laser light outlet 1112, the first camera lens light port 1111 and the heat dissipation channel 1113 are all disposed on the housing body 111, and the housing cover 112 is only a cover on a single side of the entire main housing. The main casing body 11 with the junction of casing lid 112 is provided with annular wire casing 1114, sealing washer 14 has been placed in the annular wire casing 1114, and sealing washer 14 strengthens the gas tightness of main casing body 11 inner space, prevents that dust, profit etc. from invading inside pollution erosion casing of laser welding seam tracker integrated circuit and photoelectric element, makes the tracker adapt to more abominable welding application environment. The other side of the main housing 11 is further provided with a power interface 15 and a network interface 16, and the power interface 15 is located on one side of the network interface 16. The main housing 11 has an indicator opening at a side for receiving and displaying an LED signal light for identifying the power supply and communication status of the camera.
The industrial personal computer sends position information of a workpiece to be welded, which is positioned on the working platform, to the multi-axis robot, the multi-axis robot controls the welding gun to move to a position corresponding to the position information of the workpiece to be welded according to the position information of the workpiece to be welded, the vision sensor collects current image information of the workpiece to be welded in real time, the vision sensor sends the current image information to the industrial personal computer, the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, the industrial personal computer calculates the welding seam position of the workpiece to be welded according to the welding seam position and the prestored current position of the multi-axis robot, the industrial personal computer sends the current actual welding seam position to the multi-axis robot according to a position request instruction sent by the multi-axis robot, and the multi-axis robot welds the weld of the workpiece to be welded according to the current actual weld position.
The application discloses robot self-adaptation welding system of online real-time guide, current image information of waiting to weld the work piece is gathered in real time through visual sensor, current actual welding seam position in the welding work piece can be calculated according to current image information and the multiaxis robot current position that prestores, real-time tracking to the welding seam position has been realized, the multiaxis robot treats the welding seam of welding the work piece and welds according to current actual welding seam position, the welding efficiency of welding the work piece has been improved, whole welding process is intelligent completely, the cost of labor has been saved.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; the utility model can be smoothly implemented by the ordinary technicians in the industry according to the drawings and the above description; however, those skilled in the art should understand that changes, modifications and variations made by the above-described technology can be made without departing from the scope of the present invention, and all such changes, modifications and variations are equivalent embodiments of the present invention; meanwhile, any changes, modifications, evolutions, etc. of the above embodiments, which are equivalent to the actual techniques of the present invention, still belong to the protection scope of the technical solution of the present invention.
Claims (6)
1. The utility model provides an online real-time robot self-adaptation welding system who guides which characterized in that: the welding gun type industrial personal computer comprises a multi-axis robot, an industrial personal computer and a visual sensor, wherein a welding gun is fixedly arranged at one end of the multi-axis robot, the visual sensor is installed on the welding gun, and the visual sensor and the multi-axis robot are respectively connected with the industrial personal computer;
the industrial personal computer sends position information of a workpiece to be welded, which is positioned on the working platform, to the multi-axis robot, the multi-axis robot controls the welding gun to move to a position corresponding to the position information of the workpiece to be welded according to the position information of the workpiece to be welded, the vision sensor collects current image information of the workpiece to be welded in real time, the vision sensor sends the current image information to the industrial personal computer, the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, the industrial personal computer calculates the welding seam position of the workpiece to be welded according to the welding seam position and the prestored current position of the multi-axis robot, the industrial personal computer sends the current actual welding seam position to the multi-axis robot according to a position request instruction sent by the multi-axis robot, and the multi-axis robot welds the weld of the workpiece to be welded according to the current actual weld position.
2. The on-line real-time guided robotic adaptive welding system of claim 1, wherein: the vision sensor includes a housing, a camera, and a line laser, both the camera and the line laser being placed within the housing.
3. The on-line real-time guided robotic adaptive welding system of claim 2, wherein: the shell includes the main casing body and protecting crust, main casing body one side is provided with first laser outlet and first camera lens light port, the protecting crust sets up on the side that the main casing body is equipped with first laser outlet and first camera lens light port and cover first laser outlet and first camera lens light port, the protecting crust sets up second laser outlet, sets up second camera lens light port corresponding to the position with first laser outlet at the position that corresponds with first camera lens light port, camera one side with the coaxial correspondence of first camera lens light port, line laser ware one side corresponds with first laser outlet is coaxial respectively.
4. The on-line real-time guided robotic adaptive welding system of claim 3, wherein: a front end blocking piece is arranged on the side wall structure of the protective shell.
5. The on-line real-time guided robotic adaptive welding system of claim 3, wherein: the main casing body includes casing body and casing lid, casing lid with casing body buckle is connected, the main casing body with casing lid's junction is provided with annular wire casing, there is the sealing washer annular wire casing internal mode.
6. The on-line real-time guided robotic adaptive welding system of claim 3, wherein: still include the switch, the switch respectively with the industrial computer, the vision sensor and the multiaxis robot is connected, the switch is used for establishing the industrial computer, the vision sensor and local area network between the multiaxis robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023043788.4U CN215091566U (en) | 2020-12-15 | 2020-12-15 | Robot self-adaptive welding system capable of being guided in real time on line |
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| CN202023043788.4U CN215091566U (en) | 2020-12-15 | 2020-12-15 | Robot self-adaptive welding system capable of being guided in real time on line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112705886A (en) * | 2020-12-15 | 2021-04-27 | 广州瑞松智能科技股份有限公司 | Robot self-adaptive welding system and method for online real-time guidance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112705886A (en) * | 2020-12-15 | 2021-04-27 | 广州瑞松智能科技股份有限公司 | Robot self-adaptive welding system and method for online real-time guidance |
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