CN221391065U - 3D vision rapid welding robot - Google Patents
3D vision rapid welding robot Download PDFInfo
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- CN221391065U CN221391065U CN202321546767.5U CN202321546767U CN221391065U CN 221391065 U CN221391065 U CN 221391065U CN 202321546767 U CN202321546767 U CN 202321546767U CN 221391065 U CN221391065 U CN 221391065U
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- 238000003466 welding Methods 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000000007 visual effect Effects 0.000 abstract description 21
- 238000001514 detection method Methods 0.000 abstract description 8
- 239000000523 sample Substances 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of welding equipment and discloses a 3D vision rapid welding robot, which comprises a robot main body, wherein a welding gun is arranged at the end part of the robot main body, a rotary adjusting mechanism is arranged on a shell of the welding gun, an L-shaped plate is arranged on the rotary adjusting mechanism, an outward moving mechanism is arranged on the L-shaped plate, an angle adjusting mechanism is arranged on the outward moving mechanism, a 3D vision camera is arranged on the angle adjusting mechanism, the use angle of the 3D vision camera can be adjusted through the angle adjusting mechanism, the 3D vision camera can be outwards extended by the outward moving mechanism, so that the visual field range is enlarged, the position of the 3D vision camera 7 can be adjusted by 360 degrees by utilizing the rotary adjusting mechanism, the whole structure is mutually matched for use, the use position of the 3D vision camera can be adjusted, the visual detection visual field is enlarged, and the detection dead angle during welding is avoided as much as possible.
Description
Technical Field
The utility model belongs to the technical field of welding equipment, and particularly relates to a 3D vision rapid welding robot.
Background
The vision welding robot is characterized in that a vision system is applied to the welding robot, and the functions of complex weld characteristic extraction, track locating, workpiece alignment locating and the like are realized by arranging a vision camera probe at a welding gun and matching with software. The robot welding locating device can be applied to robot welding locating with large assembly errors of steel structures, carriage plates, reinforcing steel bars, civil air defense doors, pipe plates and the like, and helps users to remarkably improve production efficiency and reduce labor cost.
A welding robot based on visual inspection as published in the publication No. CN216829274U, and is mainly characterized by: the robot comprises a robot main body, wherein a welding gun is fixedly connected to the end part of the robot main body, a mounting seat is sleeved on the welding gun, the mounting seat is fixedly connected with the welding gun through a bolt, and a camera probe and a groove box are fixedly connected to the mounting seat.
The applicant found in use that the visual inspection robot of the above structure: the general vision camera is fixed position, and the shooting visual field scope is fixed and limited, when utilizing the vision robot to carry out real-time welding guide, to when some special welding position, take the blind area easily appears when the welding head butt joint piece welds, and because the fixed unable adjustment of welding route, and the vision camera also can't adjust the position, leads to the vision camera to have the detection dead angle, in order to solve the problem that above-mentioned proposes, proposes the welding robot of adjustable 3D vision camera position.
Disclosure of utility model
The utility model aims at: in order to solve the problems set forth above, a 3D vision rapid welding robot is provided.
The technical scheme adopted by the utility model is as follows: the utility model provides a 3D vision quick welding robot, includes the robot main part, robot main part tip is provided with welder, be provided with rotary adjustment mechanism on welder's the casing, install L template on the rotary adjustment mechanism, be provided with outward moving mechanism on the L template, outward moving mechanism is last to be provided with angle adjustment mechanism, be provided with 3D vision camera on the angle adjustment mechanism.
In a preferred embodiment, the rotation adjusting structure comprises a rotating sleeve, the L-shaped plate is fixedly arranged on the L-shaped plate, the rotating sleeve is rotationally connected to the shell of the welding gun, an inner gear ring is fixedly connected to the inner wall ring at the upper part of the rotating sleeve, a first motor is fixedly connected to the shell of the welding gun, a gear is connected to the first motor through an output shaft, and the gear is meshed with the inner gear ring.
In a preferred embodiment, the swivel is bell-mouthed in shape.
In a preferred embodiment, the outward moving mechanism comprises an electric push rod and a rotating plate, the rotating plate is rotationally connected to the L-shaped plate, the electric push rod is fixedly installed on the L-shaped plate, a push block is fixedly connected to the end portion of a piston rod of the electric push rod, a push-pull rod is rotationally connected to the push block, one end of the push-pull rod is rotationally connected to the rotating plate, and the angle adjusting mechanism is installed on the rotating plate.
In a preferred embodiment, the angle adjusting mechanism comprises a support, the support is fixedly connected to the rotating plate, a rotating shaft is rotatably connected to the support, a second motor is fixedly installed on the support, the second motor is connected with the rotating shaft through an output shaft, a connecting seat is fixedly installed on the rotating shaft, and the 3D vision camera is fixedly installed on the connecting seat.
In summary, due to the adoption of the technical scheme, the beneficial effects of the utility model are as follows:
1. According to the utility model, the use angle of the 3D visual camera can be adjusted through the angle adjusting mechanism, the 3D visual camera can be extended out by the outward moving mechanism, so that the visual field range is enlarged, the position of the 3D visual camera 7 can be adjusted by 360 degrees by the rotation adjusting mechanism, the whole structure is matched with each other for use, so that the use position of the 3D visual camera can be adjusted, the visual detection visual field is enlarged, and the detection dead angle during welding is avoided as much as possible.
Drawings
FIG. 1 is a schematic diagram of the front view of the present utility model;
FIG. 2 is an enlarged view of the portion A of FIG. 1 in accordance with the present utility model;
FIG. 3 is a schematic perspective view of a 3D vision camera adjustment structure of the present utility model;
fig. 4 is a schematic perspective view of the angle adjusting mechanism of the present utility model.
The marks in the figure: the robot comprises a 1-robot main body, a 2-welding gun, a 3-rotation adjusting mechanism, a 4-L-shaped plate, a 5-outward moving mechanism, a 6-angle adjusting mechanism, a 7-3D visual camera, an 8-rotating sleeve, a 9-inner gear ring, a 10-motor I, an 11-gear, a 12-electric push rod, a 13-rotating plate, a 14-push block, a 15-push-pull rod, a 16-support, a 17-rotating shaft, an 18-connecting seat and a 19-motor II.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions in the embodiments of the present utility model will be clearly and completely described in the following in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
A 3D vision flash welding robot according to an embodiment of the present utility model will be described in detail with reference to fig. 1 to 4.
Examples:
The embodiment of the utility model provides a 3D vision rapid welding robot, which is shown by referring to fig. 1 and 2, and comprises a robot main body 1, wherein a welding gun 2 is arranged at the end part of the robot main body 1, a 3D vision camera 7 is arranged on the welding gun 2, the robot main body 1 drives the welding gun 2 to adjust welding postures, so that welding parts at different positions can be welded, and the 3D vision camera 7 can be utilized for real-time guiding welding in welding.
Referring to fig. 2, a rotary adjusting mechanism 3 is provided on a casing of the welding gun 2, an L-shaped plate 4 is mounted on the rotary adjusting mechanism 3, an outward moving mechanism 5 is provided on the L-shaped plate 4, an angle adjusting mechanism 6 is provided on the outward moving mechanism 5, a 3D vision camera 7 is provided on the angle adjusting mechanism 6, the angle adjusting mechanism 6 is used for adjusting the use angle of the 3D vision camera 7, the 3D vision camera 7 can be outwards extended by the outward moving mechanism 5, the position of the 3D vision camera 7 can be adjusted by 360 degrees by the rotary adjusting mechanism 3, and the whole structure is matched with each other for use, so that the use position of the 3D vision camera 7 can be adjusted, and detection dead angles during welding can be avoided as much as possible.
Referring to fig. 2 and 3, the rotation adjusting mechanism 3 includes a rotating sleeve 8, the L-shaped plate 4 is fixedly installed on the L-shaped plate 4, the rotating sleeve 8 is rotatably connected to a housing of the welding gun 2, a circle of inner wall of the upper portion of the rotating sleeve 8 is fixedly connected with an inner gear ring 9, a motor 10 is fixedly connected to the housing of the welding gun 2, the motor 10 is connected with a gear 11 through an output shaft, the gear 11 is in a horn mouth shape with the reference view shown in fig. 1, the motor 10 is utilized to drive the gear 11 to rotate, the gear 11 is matched with the inner gear ring 9 of the rotating sleeve 8, so that the rotating sleeve 8 is driven to rotate on the welding gun 2, and the using position of the 3D vision camera 7 is adjusted by 360 degrees.
Referring to fig. 2 and 3, the outward moving mechanism 5 includes an electric push rod 12 and a rotating plate 13, the rotating plate 13 is rotatably connected to the L-shaped plate 4, the electric push rod 12 is fixedly installed on the L-shaped plate 4, a push block 14 is fixedly connected to the end of a piston rod of the electric push rod 12, a push-pull rod 15 is rotatably connected to the push block 14, one end of the push-pull rod 15 is rotatably connected to the rotating plate 13, the angle adjusting mechanism 6 is installed on the rotating plate 13, the push-pull rod 15 drives the push block 14 to push the push-pull rod 15, and then the push-pull rod 15 pushes and pulls the rotating plate 13, so that the rotating plate 13 rotates on the L-shaped plate 4, and the 3D vision camera 7 can be outwards extended, thereby enlarging the visual field of the 3D vision camera 7.
Referring to fig. 2, 3 and 4, the angle adjusting mechanism 6 includes a support 16, the support 16 is fixedly connected to the rotating plate 13, a rotating shaft 17 is rotatably connected to the support 16, a second motor 19 is fixedly installed on the support 16, the second motor 19 is connected to the rotating shaft 17 through an output shaft, a connecting seat 18,3D is fixedly installed on the rotating shaft 17, the vision camera 7 is fixedly installed on the connecting seat 18, the connecting seat 18 is driven to rotate by the second motor 19 on the rotating shaft 17, and therefore the 3D vision camera 7 is driven to adjust a use angle.
The implementation principle of the 3D vision rapid welding robot provided by the embodiment of the application is as follows: when the three-dimensional visual camera is used, the first motor 10 is started to drive the gear 11 to rotate, the gear 11 is matched with the inner gear ring 9 of the rotating sleeve 8, so that the rotating sleeve 8 is driven to rotate on the welding gun 2, the using position of the 3D visual camera 7 is adjusted by 360 degrees, meanwhile, the push rod 15 can drive the push block 14 to push and pull the push rod 15, then the push rod 15 pushes and pulls the rotating plate 13, so that the rotating plate 13 rotates on the L-shaped plate 4, the 3D visual camera 7 can be outwards stretched out, the visual field range of the 3D visual camera 7 is enlarged, the second motor 19 drives the connecting seat 18 on the rotating shaft 17 to rotate, the 3D visual camera 7 is driven to adjust the using angle, the visual detection visual field range can be enlarged according to actual use, and detection dead angles are avoided as much as possible.
The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.
Claims (5)
1. 3D vision rapid welding robot, including robot main part (1), its characterized in that: the robot comprises a robot main body (1), wherein a welding gun (2) is arranged at the end part of the robot main body, a rotary adjusting mechanism (3) is arranged on a shell of the welding gun (2), an L-shaped plate (4) is arranged on the rotary adjusting mechanism (3), an outward moving mechanism (5) is arranged on the L-shaped plate (4), an angle adjusting mechanism (6) is arranged on the outward moving mechanism (5), and a 3D vision camera (7) is arranged on the angle adjusting mechanism (6).
2. A 3D vision flash welding robot as defined in claim 1, wherein: the rotary adjusting mechanism (3) comprises a rotary sleeve (8), the L-shaped plate (4) is fixedly arranged on the L-shaped plate (4), the rotary sleeve (8) is rotationally connected to a shell of the welding gun (2), an inner gear ring (9) is fixedly connected to the inner wall of the upper portion of the rotary sleeve (8), a motor I (10) is fixedly connected to the shell of the welding gun (2), a gear (11) is connected to the motor I (10) through an output shaft, and the gear (11) is meshed with the inner gear ring (9).
3. A 3D vision flash welding robot as claimed in claim 2, wherein: the rotating sleeve (8) is in a horn mouth shape.
4. A 3D vision flash welding robot as defined in claim 1, wherein: the outer moving mechanism (5) comprises an electric push rod (12) and a rotating plate (13), the rotating plate (13) is rotationally connected to the L-shaped plate (4), the electric push rod (12) is fixedly installed on the L-shaped plate (4), a push block (14) is fixedly connected to the end portion of a piston rod of the electric push rod (12), a push-pull rod (15) is rotationally connected to the push block (14), one end of the push-pull rod (15) is rotationally connected to the rotating plate (13), and the angle adjusting mechanism (6) is installed on the rotating plate (13).
5. A 3D vision flash welding robot as recited in claim 4, wherein: the angle adjusting mechanism (6) comprises a support (16), the support (16) is fixedly connected to the rotating plate (13), a rotating shaft (17) is rotatably connected to the support (16), a motor II (19) is fixedly installed on the support (16), the motor II (19) is connected with the rotating shaft (17) through an output shaft, a connecting seat (18) is fixedly installed on the rotating shaft (17), and the 3D vision camera (7) is fixedly installed on the connecting seat (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321546767.5U CN221391065U (en) | 2023-06-16 | 2023-06-16 | 3D vision rapid welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321546767.5U CN221391065U (en) | 2023-06-16 | 2023-06-16 | 3D vision rapid welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221391065U true CN221391065U (en) | 2024-07-23 |
Family
ID=91934816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321546767.5U Active CN221391065U (en) | 2023-06-16 | 2023-06-16 | 3D vision rapid welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221391065U (en) |
-
2023
- 2023-06-16 CN CN202321546767.5U patent/CN221391065U/en active Active
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