CN219151927U - Visual locating device applied to steel arch production - Google Patents
Visual locating device applied to steel arch production Download PDFInfo
- Publication number
- CN219151927U CN219151927U CN202223135442.6U CN202223135442U CN219151927U CN 219151927 U CN219151927 U CN 219151927U CN 202223135442 U CN202223135442 U CN 202223135442U CN 219151927 U CN219151927 U CN 219151927U
- Authority
- CN
- China
- Prior art keywords
- visual
- welding
- vision
- locating device
- protection cover
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a visual locating device applied to steel arch production, and belongs to the technical field of welding equipment. The visual locating device applied to the production of the steel arch comprises visual locating devices, the two visual locating devices are respectively arranged on the flitch grabbing robot and the welding robot, each visual locating device comprises an industrial camera, a light source, protective glass and a visual protection cover, each industrial camera and each light source are arranged in the corresponding visual protection cover, and each protective glass is arranged on the end face of each visual protection cover. The utility model can solve the displacement change problem of the I-steel connecting plate and the welding seam space position thereof caused by inconsistent I-steel deformation and camber rebound during the mounting and welding of the connecting plate; the welding device can automatically find the offset position of the end face of the I-steel and the angle for deflection, and is combined with the special fixture for mounting and attaching the connecting plate, so that the connecting plate can be accurately attached to the end face of the I-steel, the welding line position can be accurately found, and welding is accurately performed.
Description
Technical Field
The utility model relates to the technical field of welding equipment, in particular to a visual locating device applied to steel arch production.
Background
In tunnel, subway, hydropower station, underground cavern engineering, often use crooked I-steel to build up and to support the arch frame and carry out the construction, generally support the arch frame and all adopt I-steel bending to weld the connecting plate at both ends after shaping and carry out the construction.
In the actual production process, due to the fact that the quality of the I-steel materials in the market is good and uneven, welding during lap butt welding between the I-steel materials cannot be completely consistent and the like, the bending springback of the I-steel arch is inconsistent, and therefore the spatial position of a welding seam of the I-steel connecting plate is displaced and changed, the joint of the connecting plate and the end face of the I-steel is affected, and a robot of the joint welding seam is used for welding the joint welding seam.
At present, the welding of the I-steel of the steel arch and the connecting plate is developed to automation in the industry, and the robot welding operation is realized, but the problems in the mounting and welding of the connecting plate are not well solved. Although some techniques related to weld locating have been applied, there are significant limitations to locating planar welds. The welding seam position of the steel arch production is located at a three-dimensional space position, so that locating is very difficult, and the problem of accurate plate pasting position of the connecting plate cannot be solved.
Disclosure of Invention
In order to solve the technical problems, the utility model provides a visual locating device applied to steel arch production, which can solve the displacement change problem of the I-steel connecting plate and the welding seam space position thereof caused by inconsistent I-steel deformation and arch springback during the mounting and welding of the connecting plate; the welding device can automatically find the offset position of the end face of the I-steel and the angle for deflection, and is combined with the special fixture for mounting and attaching the connecting plate, so that the connecting plate can be accurately attached to the end face of the I-steel, the welding line position can be accurately found, and welding is accurately performed.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a be applied to visual locating device of steel bow member production, includes visual locating device, two visual locating device installs respectively on flitch grabbing robot and welding robot, visual locating device includes industry camera, light source, safety glass and vision safety cover, industry camera and light source are installed in the inside of vision safety cover, safety glass installs the terminal surface at the vision safety cover.
In one embodiment of the utility model, the vision protection cover comprises a protection cover shell, one end of the protection cover shell is provided with a panel, the other end of the protection cover shell is provided with a backboard, and a light source mounting plate and a camera mounting bracket are arranged inside the protection cover shell.
In one embodiment of the utility model, a visual mounting corner fitting is mounted on the outside of the visual protection cover.
In one embodiment of the utility model, the light source is mounted on a light source mounting plate of the vision protection cover, the panel is mounted on the end face of the protection cover shell, and the panel is used for clamping and fixing the protection glass; the industrial camera is arranged on the camera mounting bracket, the lens faces towards the protective glass, the backboard of the vision protection cover is provided with a connecting plug-in unit, and the connecting plug-in unit is used for communicating external equipment with the industrial camera and the light source.
In one embodiment of the utility model, one of the vision locating devices is arranged on a fixed hanging leg of a special fixture for attaching a connecting plate connected with the flitch grabbing robot through a vision installation corner fitting.
In one embodiment of the utility model, a visual positioning needle mounting plate is mounted on the end face of the fixed hanging leg, and a visual positioning needle is mounted on the visual positioning needle mounting plate.
In one embodiment of the utility model, the board grabbing robot grabs the connecting board through a connecting board mounting special fixture.
In one embodiment of the utility model, the other visual locating device is connected with a welding visual mounting plate through a visual mounting corner fitting, and the welding visual mounting plate is mounted on a welding robot.
In one embodiment of the utility model, a welding visual positioning needle mounting plate group is connected to the side surface of the welding visual mounting plate, and a visual positioning needle is connected to the welding visual positioning needle mounting plate group.
In one embodiment of the utility model, the vision locating device further comprises a vision system, and the two vision locating devices are respectively in communication connection with the flitch grabbing robot and the welding robot through the vision system.
The beneficial effects of the utility model are as follows:
1. the utility model can solve the displacement change problem of the I-steel connecting plate and the welding seam space position thereof caused by inconsistent I-steel deformation and camber rebound during the mounting and welding of the connecting plate; the welding device can automatically find the offset position of the end face of the I-steel and the angle for deflection, and is combined with the special fixture for mounting and attaching the connecting plate, so that the connecting plate can be accurately attached to the end face of the I-steel, the welding line position can be accurately found, and welding is accurately performed.
2. The visual locating device also comprises a visual system, and the two visual locating devices are respectively in communication connection with the flitch grabbing robot and the welding robot through the visual system; through this kind of setting makes I-steel laminating terminal surface can be in connecting plate central point put accuracy and connecting plate laminating, also makes welding robot can weld according to the welding seam position is accurate, simple structure, convenient operation is nimble, and the system is stable, calculate accurately, pastes dress, welding position is accurate.
Drawings
FIG. 1 is a perspective view of a visual locating device of the present utility model;
FIG. 2 is a perspective view of a visual locating device according to another embodiment of the present utility model;
FIG. 3 is a cross-sectional view of the visual locating device of the present utility model;
FIG. 4 is a perspective view of the visual locating device of the present utility model mounted on a special fixture for attachment to a web;
FIG. 5 is a perspective view of the visual locating device of the present utility model mounted on a welding robot;
FIG. 6 is a perspective view of the flitch picking robot and welding robot of the present utility model;
FIG. 7 is a perspective view of a further view of the flitch gripping robot and welding robot of the present utility model;
FIG. 8 is a perspective view of the vision locating device of the present utility model mounted on a flitch pick robot and a welding robot;
fig. 9 is a schematic view of the operation of the board grabbing robot and the welding robot of the present utility model.
In the figure, 1, an industrial camera; 2. a light source; 3. a connection plug-in; 4. a cover glass; 5. a vision protection cover; 51. a housing; 52. a panel; 53. a back plate; 54. a light source mounting plate; 55. a camera mounting bracket; 6. visual mounting of corner pieces; 7. visual positioning needle; 8. a visual positioning needle mounting plate; 9. welding a visual mounting plate; 10. welding a visual positioning needle mounting plate group; 11. the flitch grabbing robot; 12. a welding robot; 13. a special fixture is attached to the connecting plate; 14. fixing a hanging angle; 15. a connecting plate; 100. visual locating device.
Detailed Description
The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.
In the present utility model, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Referring to fig. 1-9, a visual locating device applied to steel arch production comprises a visual locating device 100, wherein the two visual locating devices 100 can be respectively installed on a flitch grabbing robot 11 and a welding robot 12, and the visual locating device 100 comprises an industrial camera 1, a light source 2, a connecting plug-in 3, a protective glass 4, a visual protection cover 5, a visual installation corner piece 6, a visual positioning needle 7, a visual positioning needle installation plate 8, a welding visual installation plate 9 and a welding visual positioning needle installation plate group 10.
Further, the vision protection cover 5 comprises a protection cover shell 51, a panel 52, a backboard 53, a light source mounting plate 54 and a camera mounting bracket 55, wherein one end of the protection cover shell 51 is provided with the panel 52, the other end is provided with the backboard 53, and the light source mounting plate 54 and the camera mounting bracket 55 are arranged inside the protection cover shell 51; the outside of the vision protection cover 5 is provided with a vision installation corner fitting 6.
Further, the light source 2 is mounted on a light source mounting plate 54 of the vision protection cover 5, the protection glass 4 is mounted to be attached to the light source 2, the panel 52 is mounted on an end face of the protection cover 51, and the panel 52 is used for clamping and fixing the protection glass 4; the industrial camera 1 is arranged on the camera mounting bracket 55, inserted into the central position of the light source 2, and the lens faces the protective glass 4, and the protective glass 4 can effectively prevent the camera lens from being polluted and damaged; the connecting plug-in 3 is arranged on the backboard 53 of the vision protection cover 5, the connecting plug-in 3 is used for communicating external equipment with the industrial camera 1 and the light source 2, and the light source 2 can be powered through the connecting plug-in 3.
Further, the number of the visual locating devices 100 is two, one visual locating device 100 is mounted on a fixed hanging leg 14 of a connecting plate mounting special fixture 13 connected with the flitch grabbing robot 11 through a visual mounting corner fitting 6, a visual locating needle mounting plate 8 is mounted on the end face of the fixed hanging leg 14, and a visual locating needle 7 is mounted on the visual locating needle mounting plate 8. The visual locating device 100 on the connecting plate attaching special fixture 13 connected with the flitch grabbing robot 11 is connected with the visual locating needle 7 through the fixed hanging leg 14 of the connecting plate attaching special fixture 13 and the visual locating needle mounting plate 8. The veneer grabbing robot 11 grabs the connecting plate 15 through the connecting plate mounting special fixture 13.
Further, the other visual locating device 100 is connected with a welding visual mounting plate 9 through a visual mounting corner fitting 6, the welding visual mounting plate 9 is mounted on a six-axis flange of the welding robot 12, and the visual locating device 100 on the welding robot 12 is mounted on the welding robot 12 through the visual mounting corner fitting 6 and the welding visual mounting plate 9; the side of welding vision mounting panel 9 is connected with welding vision location accurate needle mounting panel group 10, welding vision location accurate needle mounting panel group 10 is connected with vision location accurate needle 7.
Optionally, the vision locating device 100 further includes a vision system, and the two vision locating devices 100 are respectively connected with the board grabbing robot 11 and the welding robot 12 in a communication manner through the vision systems.
The working principle of the utility model is as follows:
1. establishing communication between a vision system and a flitch grasping robot system, calibrating a flitch vision target position at the center of the end face of the I-steel flitch, aligning a vision positioning standard needle 7 of a vision locating device on the flitch grasping robot to the flitch vision target position of the end face of the I-steel, adjusting vision aperture and focal length parameters, and adjusting the definition and centering effect of a photographed photo in the vision system; establishing a common coordinate system of the visual system and the flitch grabbing robot, sending the target coordinate position to the flitch grabbing robot, and anchoring the flitch shooting position and the flitch target coordinate position; the visual locating device photographs the joint end face of the I-steel, obtains the position coordinates of the four corner points, and simultaneously sends the coordinates to the flitch grabbing robot for anchoring.
When the I-steel reaches the position of the flitch of the connecting plate during normal production, the robot positions the I-steel, the vision locating device moves to the target position anchored by the system, the vision system photographs the joint end face of the I-steel, the position coordinates of four corners points are obtained, the position coordinates of the four corners points anchored in the system are compared with the coordinates of the four corners anchored in the system, after the position variation and deflection angle parameters are obtained, the parameters are sent to the flitch grabbing robot, the flitch grabbing robot adjusts the flitch position and the rotation angle according to the received position variation and deflection angle parameters, and the connecting plate is jointed on the joint end face of the I-steel, so that the joint end face of the I-steel can be accurately jointed with the connecting plate at the central position of the connecting plate.
2. Establishing communication between a visual system and a welding robot system, calibrating a welding visual target position at the joint center of the I-steel flitch and the connecting plate, aligning a visual positioning standard needle 7 of a visual locating device on the welding robot to the welding target position, adjusting visual aperture and focal length parameters, and adjusting the definition and centering effect of a photographed photo in the visual system; transmitting the welding target coordinate position to the flitch grabbing robot, and anchoring the welding photographing position and the welding target coordinate position; the welding vision locating device photographs the welding seam, obtains the position coordinates of two end points of the welding seam, and simultaneously sends the position coordinates to the welding robot.
When normal production is carried out, after the I-steel is attached to the connecting plate, the welding vision device is moved to the welding vision target position anchored by the system by the robot, the vision system photographs the I-steel welding seam, the position coordinates of two end points of the welding seam are obtained, the welding vision device is compared with the position coordinates of two end points of the welding seam anchored in the system, after the position variation parameters are obtained, the parameters are sent to the welding robot, the welding robot operates the welding gun to weld according to the received position variation parameters, and therefore, the welding robot can accurately weld according to the new welding seam position.
The scope of the present utility model is not limited to the above-described embodiments, but is intended to be limited to the appended claims, any modifications, equivalents, improvements and alternatives falling within the spirit and principle of the inventive concept, which can be made by those skilled in the art.
Claims (10)
1. Be applied to vision of steel bow member production and seek a device, a serial communication port, including the vision seek a device, two the vision is sought a device and is installed respectively on flitch grabbing robot and welding robot, the vision is sought a device and is included industry camera, light source, glass and vision safety cover, industry camera and light source are installed in the inside of vision safety cover, glass installs the terminal surface at the vision safety cover.
2. The vision locating device according to claim 1, wherein the vision protection cover comprises a protection cover shell, one end of the protection cover shell is provided with a panel, the other end of the protection cover shell is provided with a backboard, and a light source mounting plate and a camera mounting bracket are arranged inside the protection cover shell.
3. A visual locating device as claimed in claim 2, wherein a visual mounting corner is mounted on the outside of the visual protection cover.
4. A visual locating device according to claim 3, wherein the light source is mounted on a light source mounting plate of the visual protective cover, the panel is mounted on an end face of the protective cover, and the panel is used for clamping and fixing protective glass; the industrial camera is arranged on the camera mounting bracket, the lens faces towards the protective glass, the backboard of the vision protection cover is provided with a connecting plug-in unit, and the connecting plug-in unit is used for communicating external equipment with the industrial camera and the light source.
5. A visual locating device according to claim 3, wherein one of the visual locating devices is mounted on a fixed leg of a connecting plate mounting special fixture connected to the flitch grabbing robot via a visual mounting corner fitting.
6. The visual locating device according to claim 5, wherein the end face of the fixing leg is provided with a visual locating needle mounting plate, and the visual locating needle mounting plate is provided with a visual locating needle.
7. The vision locating device of claim 6, wherein the board grabbing robot grabs the connection board by a connection board mounting special fixture.
8. A visual locating device according to claim 3, wherein another visual locating device is connected to a welding visual mounting plate via a visual mounting corner fitting, said welding visual mounting plate being mounted on a welding robot.
9. The visual locating device of claim 8, wherein the side of the welding visual locating pin mounting plate is connected with a welding visual locating pin mounting plate set, and the welding visual locating pin mounting plate set is connected with a visual locating pin.
10. The vision locating device according to claim 1, further comprising a vision system, wherein the two vision locating devices are respectively in communication connection with the flitch grabbing robot and the welding robot through the vision system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223135442.6U CN219151927U (en) | 2022-11-24 | 2022-11-24 | Visual locating device applied to steel arch production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223135442.6U CN219151927U (en) | 2022-11-24 | 2022-11-24 | Visual locating device applied to steel arch production |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219151927U true CN219151927U (en) | 2023-06-09 |
Family
ID=86641187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223135442.6U Active CN219151927U (en) | 2022-11-24 | 2022-11-24 | Visual locating device applied to steel arch production |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219151927U (en) |
-
2022
- 2022-11-24 CN CN202223135442.6U patent/CN219151927U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106514201B (en) | A kind of automatic connector assembly robot system and its control method | |
| CN111300481B (en) | Robot grabbing pose correction method based on vision and laser sensor | |
| CN114434059B (en) | Automatic welding system and method for large structural part with combined robot and three-dimensional vision | |
| CN110605740A (en) | Vision guide feeding system suitable for automatic automobile roof carrying process | |
| CN106112176A (en) | A kind of Full-automatic laser welding machine | |
| CN110009685A (en) | A kind of laser camera hand and eye calibrating method increasing material applied to electric arc | |
| CN219151927U (en) | Visual locating device applied to steel arch production | |
| KR100809535B1 (en) | Pipe assembling method | |
| CN215037637U (en) | Camera external parameter calibration device for visual guidance of industrial robot | |
| KR101715175B1 (en) | Method of calibrating coordinate system in laser vision sensor | |
| CN203345084U (en) | Automatic assembly system for car windshield glass | |
| CN112077862A (en) | Vision photographing robot | |
| CN212070782U (en) | Dual-purpose laser welding equipment of handheld welder of robot | |
| CN101462211A (en) | Laser delicate-adjustment large-sized mechanical component coaxial automatic welding technique | |
| CN115370831A (en) | Clamp device for quickly connecting pipelines | |
| KR102232086B1 (en) | Articulated robot for adjustment pipe reproduction | |
| KR101018049B1 (en) | System for compensation of welding distortion and method for compensation of welding distortion using the same | |
| CN109807605B (en) | Oblique installation method of mobile phone installation equipment | |
| KR20090006555A (en) | Working module to be mounted in robot for marking process | |
| CN216180572U (en) | Automatic rubberizing device of automobile rearview mirror | |
| CN209742395U (en) | Transfer template auxiliary positioning device | |
| CN110524125A (en) | A kind of method for correcting error of laser pipe cutter tubing feeding | |
| CN220739731U (en) | Welding equipment | |
| CN220004735U (en) | Workpiece rotatable adhesive dispensing clamp jig | |
| CN220933513U (en) | Fixing device and multi-camera external parameter calibration device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |