WO2022104857A1

WO2022104857A1 - Intelligent welding robot based on machine vision

Info

Publication number: WO2022104857A1
Application number: PCT/CN2020/131435
Authority: WO
Inventors: 徐倾城
Original assignee: 苏州卓罗智能科技有限公司
Priority date: 2020-11-21
Filing date: 2020-11-25
Publication date: 2022-05-27
Also published as: LU502356B1; CN112475701A

Abstract

The present invention is applicable to the technical field of robots, and provides an intelligent welding robot based on machine vision. The welding robot comprises an operation table; support legs are fixed to the bottom of the operation table; an empty recess is formed in the center of the upper surface of the operation table; a rotatable welding table mechanism is mounted in the empty recess; a heat dissipation mechanism is mounted on the bottom of the rotatable welding table mechanism; the rotatable welding table mechanism comprises a welding table; a suctioning and fixing mechanism is mounted on the welding table; side grooves are formed in two sides of the operation table; a welding fixing plate and a flue gas suction fixing plate are respectively mounted in the side grooves on the two sides by means of a translation mechanism; a multi-directional adjustment welding mechanism is mounted on the welding fixing plate; and a flue gas suction purification mechanism is mounted on the flue gas suction fixing plate. In the present invention, the multi-directional adjustment welding mechanism is provided and can work in conjunction with the translation mechanism and the rotatable welding table mechanism, such that a welding gun can be flexibly rotated and adjusted.

Description

An intelligent welding robot based on machine vision

technical field

The invention belongs to the technical field of robots, and in particular relates to an intelligent welding robot based on machine vision.

Background technique

Welding, also known as welding, is a manufacturing process and technology for joining metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure. There are many energy sources for modern welding, including gas flame, arc, laser, electronic Beam, friction and ultrasonic, etc., welding techniques are mostly used in factories, but today welding can also be carried out in a variety of environments, such as the field, underwater and space. During the welding operation, it may bring danger to the operator, such as burns, visual impairment, inhalation of toxic gas, etc. In the prior art, in order to protect the operator and improve the welding efficiency, welding robots began to replace manual labor. Welding work.

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It is an automated machine with high flexibility. It has basic characteristics such as perception, decision-making, and execution, so that it can assist or even replace humans in completing welding work and improve work efficiency. Efficiency and quality, the purpose of assisting or replacing human work.

However, the welding robot in the prior art is not flexible enough to adjust the angle and position during use, and cannot be rotated arbitrarily, which leads to errors during welding, and thus the problem of inaccurate welding position occurs.

technical solutions

The purpose of the present invention is to provide an intelligent welding robot based on machine vision, so as to solve the problem that the welding robot cannot rotate and adjust the position arbitrarily in the prior art, which easily leads to the inaccuracy of the welding position.

The embodiments of the present invention are implemented in the following way: an intelligent welding robot based on machine vision, the welding robot includes an operation table, the bottom of the operation table is fixed with support legs, and the center of the upper surface of the operation table is provided with an empty groove , a rotatable welding table mechanism is installed inside the hollow slot, and a heat dissipation mechanism is installed at the bottom of the rotatable welding table mechanism;

The rotatable welding table mechanism includes a welding table, and an adsorption and fixing mechanism is installed on the welding table;

Both sides of the operating table are provided with side grooves, and the inside of the side grooves on both sides are respectively equipped with a welding fixing plate and a smoking fixing plate through a translation mechanism. A smoking purification mechanism is installed on the fixed plate.

As a further solution of the present invention: the rotatable welding table mechanism includes a first motor, the first motor is located on the upper surface of the heat dissipation net, and the heat dissipation net is embedded in the bottom of the hollow slot;

The output end of the first motor is drivingly connected with the first rotating shaft through a coupling, and a welding table is fixed on the top of the first rotating shaft.

As a further solution of the present invention: the heat dissipation mechanism includes an installation table, the installation table is located below the hollow slot, a second motor is installed inside the installation table, and the output end of the second motor passes through the coupling shaft The device is drivingly connected with a second rotating shaft, and a cooling fan blade is fixed on the top of the second rotating shaft.

As a further solution of the present invention: the adsorption and fixing mechanism includes two L-shaped plates, the two L-shaped plates are symmetrically fixed on both ends of the upper surface of the welding table, and an automatic telescopic rod is installed on the top of the L-shaped plate, A pressing plate is arranged on the top of the automatic telescopic rod, and a flexible pad is arranged on the pressing plate;

A suction cup is embedded on the upper surface of the welding table, a vacuum machine is installed below the welding table, and an air suction pipe is provided at the suction port of the vacuum machine to be connected with the suction cup.

As a further solution of the present invention: the translation mechanism includes a second motor, the second motor is installed on the outer side of the side slot, and the output end of the second motor is drivingly connected with the second shaft through a coupling, so The second rotating shaft is rotatably installed inside the side groove, a sliding block is installed on the second rotating shaft in a threaded connection manner, and the welding fixing plate and the smoking fixing plate are respectively fixed on the sliding blocks on both sides.

As a further solution of the present invention: the multi-directional adjustment welding mechanism includes a first telescopic arm, one end of the first telescopic arm is rotatably mounted on the inner wall of the welding fixing plate, and the other end of the first telescopic arm is rotated A second telescopic arm is installed, and a first hydraulic telescopic push arm is hingedly installed on the side walls of the first telescopic arm and the second telescopic arm;

A connecting rod is rotatably installed on the top of the second telescopic arm, the welding gun is fixedly connected with the connecting rod, and a second hydraulic telescopic push arm is hingedly installed on the side wall of the second telescopic arm and the connecting rod;

A cavity is opened inside the welding fixing plate, a third motor is installed in the cavity, the output end of the third motor is driven and connected with a third rotating shaft through a coupling, and the third rotating shaft passes through the welding The fixing plate is fixedly connected with the first telescopic arm.

As a further solution of the present invention: the smoking purifying mechanism includes an induced draft fan installed on the top of the smoking fixing plate, the smoking port of the induced draft fan is provided with an induced draft duct, and the induced draft duct passes through the smoking fixing plate It is connected with a smoking hood, and the smoking hood is located on the lower surface of the top of the smoking fixing plate. The smoke outlet of the induced draft fan is provided with an air outlet pipe, and the air outlet pipe is connected with the adsorption filter layer.

beneficial effect

Compared with the prior art, the beneficial effects of the present invention are: the intelligent welding robot based on machine vision can replace manual welding work, and can protect the staff from damage caused by strong light, sparks, etc. generated in the welding process, In addition, the welding efficiency is improved, and it is not affected by the environment and position. At the same time, in view of the problem that the rotation of the welding robot in the prior art is not flexible enough, a multi-directional adjustment welding mechanism is provided, which can cooperate with the translation mechanism and the rotatable welding table mechanism. Therefore, the rotation adjustment can be flexibly adjusted, and welding processing can be carried out for any position of the workpiece to be processed.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. some examples.

Figure 1 is a schematic structural diagram of an intelligent welding robot based on machine vision.

FIG. 2 is a front cross-sectional view of an intelligent welding robot based on machine vision.

FIG. 3 is a front cross-sectional view of an adsorption and fixing mechanism in an intelligent welding robot based on machine vision.

FIG. 4 is a front view of the translation mechanism in the intelligent welding robot based on machine vision.

FIG. 5 is a side view of a multi-directional adjustment welding mechanism in an intelligent welding robot based on machine vision.

FIG. 6 is a side view of the smoking purification mechanism in the intelligent welding robot based on machine vision.

In the picture: 1- console, 2- support legs, 3- empty slot, 4- cooling net, 5- first motor, 6- first shaft, 7- welding table, 8- installation table, 9- second motor , 10-second shaft, 11-cooling fan blade, 12-L-shaped plate, 13-automatic telescopic rod, 14-pressing plate, 15-flexible pad, 16-suction cup, 17-vacuum machine, 18-suction duct , 19-side slot, 20-second motor, 21-second shaft, 22-slider, 23-welded fixing plate, 24-first telescopic arm, 25-second telescopic arm, 26-connecting rod, 27- Welding gun, 28-third motor, 29-third shaft, 30-first hydraulic telescopic push arm, 31-second hydraulic telescopic push arm, 32-smoking fixing plate, 33- induced draft fan, 34- induced draft duct, 35-Smoking hood, 36-Outlet pipe, 37-Adsorption filter layer.

Embodiments of the present invention

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

Example 1

As shown in FIGS. 1 to 6 , an embodiment of the present invention provides an intelligent welding robot based on machine vision. The welding robot includes an operation table 1 , and a support leg 2 is fixed at the bottom of the operation table 1 . 1. An empty groove 3 is opened in the center of the upper surface, and a rotatable welding table mechanism is installed inside the empty groove 3, and a heat dissipation mechanism is installed at the bottom of the rotatable welding table mechanism; the rotatable welding table mechanism includes a welding table. 7. An adsorption fixing mechanism is installed on the welding table 7; side grooves 19 are provided on both sides of the operating table 1, and a welding fixing plate 23 and a smoking fixing plate are respectively installed in the interior of the side grooves 19 on both sides through a translation mechanism. 32. A multi-directional adjustment welding mechanism is installed on the welding fixing plate 23, and a smoking purifying mechanism is installed on the smoking fixing plate 32.

The intelligent welding robot based on machine vision can replace manual welding work, protect workers from damage caused by strong light, sparks, etc. generated in the welding process, and improve welding efficiency, and is not affected by the environment and location. At the same time, in view of the problem that the rotation of the welding robot in the prior art is not flexible enough, a multi-directional adjustment welding mechanism is provided, which can cooperate with the translation mechanism and the rotatable welding table mechanism, so that the rotation adjustment can be flexibly adjusted for any position of the workpiece. Welding is possible.

When in use, place the workpiece to be processed on the upper surface of the welding table 7, activate the adsorption and fixing mechanism to fix the workpiece to prevent shaking during welding, and then activate the translation mechanism to drive the welding fixing plate 23 to move, and adjust the multi-directional Adjust the position of the welding mechanism, align the workpiece on the welding table 7 for welding processing, and the workpiece can also rotate with the rotatable welding table mechanism, avoiding the processing dead angle, while the welding work is performed, start the translation mechanism on the other side The smoking fixing plate 32 is driven to move, thereby driving the smoking purification mechanism to absorb the harmful gas generated in the welding process and process it, so as to ensure the surrounding environment.

Further, the rotatable welding table mechanism includes a first motor 5, the first motor 5 is located on the upper surface of the heat dissipation net 4, and the heat dissipation net 4 is embedded in the bottom of the hollow slot 3; The output end of the motor 5 is drivingly connected to the first rotating shaft 6 through a coupling, and a welding table 7 is fixed on the top of the first rotating shaft 6 .

Specifically, the heat dissipation mechanism includes an installation table 8 , the installation table 8 is located below the hollow slot 3 , a second motor 9 is installed inside the installation table 8 , and the output end of the second motor 9 passes through The coupling is drivingly connected with the second rotating shaft 10 , and the top of the second rotating shaft 10 is fixed with a cooling fan blade 11 .

When the workpiece is placed on the upper surface of the welding table 7, the first motor 5 is activated when the position of the workpiece needs to be adjusted. The rotation of the workpiece can drive the parts that need to be welded to correspond to the multi-directional adjustment welding mechanism. During the operation of the first motor 5, the second motor 9 is started, and the second motor 9 drives the cooling fan blade 11 through the second rotating shaft 10. By rotating, the cooling fan blades 11 can be used to speed up the air flow, thereby improving the heat dissipation performance of the first motor 5 and ensuring the normal operation and use of the first motor 5 .

Further, the adsorption and fixing mechanism includes two L-shaped plates 12 . The two L-shaped plates 12 are symmetrically fixed on both ends of the upper surface of the welding table 7 , and an automatic telescopic rod 13 is installed on the top of the L-shaped plates 12 . , the top of the automatic telescopic rod 13 is provided with a pressing plate 14, and the pressing plate 14 is provided with a flexible pad 15; the upper surface of the welding table 7 is embedded with a suction cup 16, and the bottom of the welding table 7 is installed with The vacuuming machine 17 has a suction pipe 18 connected to the suction cup 16 at the suction port of the vacuuming machine 17 .

When the workpiece needs to be fixed, when the workpiece is placed on the upper surface of the welding table 7, the vacuum machine 17 is started, and the vacuum machine 17 generates suction through the suction pipe 18, thereby generating negative pressure in the suction cup 16, which can The workpiece is adsorbed, and at the same time, the automatic telescopic rod 13 is activated to extend, and the pressing plate 14 is driven down to press the flexible pad 15 against the surface of the workpiece. The flexible pad 15 can be used to fit workpieces of different shapes, further ensuring the fixing effect of the workpiece.

Further, the translation mechanism includes a second motor 20, the second motor 20 is installed on the outer side of the side slot 19, and the output end of the second motor 20 is drivingly connected with the second shaft 21 through a coupling, The second rotating shaft 21 is rotatably installed inside the side groove 19 , the sliding block 22 is installed on the second rotating shaft 21 in a threaded connection, and the welding fixing plate 23 and the smoking fixing plate 32 are respectively fixed on both sides on the slider 22.

When the position adjustment is performed, the second motor 20 is activated, and the second motor 20 drives the second shaft 21 to rotate in the side groove 19, thereby driving the slider 22 to move in the side groove 19, thereby adjusting the welding fixing plate 23 and the smoking fixing plate 23. The relative position of the plate 32 to the welding table 7 .

Further, the multi-directional adjustment welding mechanism includes a first telescopic arm 24, one end of the first telescopic arm 24 is rotatably mounted on the inner wall of the welding fixing plate 23, and the other end of the first telescopic arm 24 is rotated A second telescopic arm 25 is installed, and a first hydraulic telescopic push arm 30 is hingedly installed on the side walls of the first telescopic arm 24 and the second telescopic arm 25; a connecting rod is rotatably installed on the top of the second telescopic arm 25 26. The welding gun 27 is fixedly connected with the connecting rod 26, the second telescopic arm 25 and the side wall of the connecting rod 26 are hingedly mounted with a second hydraulic telescopic push arm 31; the welding fixing plate 23 is provided with a cavity inside , a third motor 28 is installed in the cavity, the output end of the third motor 28 is drivingly connected to the third shaft 29 through a coupling, and the third shaft 29 passes through the welding fixing plate 23 and the third shaft 29 A telescopic arm 24 is fixedly connected.

The welding process is realized by using the welding gun 27, the third motor 28 is activated, the third motor 28 drives the first telescopic arm 24 to rotate on the side wall of the welding fixing plate 23 through the third rotating shaft 29, and the first hydraulic telescopic push arm 30 is activated to telescopically extend, It can drive and adjust the angle between the second telescopic arm 25 and the first telescopic arm 24, start the second hydraulic telescopic push arm 31 to extend and retract, and can drive and adjust the angle between the connecting rod 26 and the second telescopic arm 25, through the third motor 28. The first hydraulic telescopic push arm 30 and the second hydraulic telescopic push arm 31 can adjust the angle of the welding gun 27 in multiple directions, thereby meeting the welding requirements of different positions.

Example 2

As shown in FIG. 1 and FIG. 6 , in yet another embodiment provided by the present invention, the smoking purification mechanism includes an induced draft fan 33 installed on the top of the smoking fixing plate 32 , and a smoking port of the induced draft fan 33 is provided with a draft fan 33 . The air duct 34 is connected to the smoking hood 35 through the smoking fixing plate 32. The smoking hood 35 is located on the lower surface of the top of the smoking fixing plate 32. The outlet is provided with an air outlet pipe 36 , and the air outlet pipe 36 is connected with the adsorption filter layer 37 .

During the welding process, the smoking fixing plate 32 is driven to move until the smoking hood 35 is located above the workpiece, and the induced draft fan 33 is activated. The air duct 36 is introduced into the adsorption filter layer 37, and the harmful substances are adsorbed and filtered through the adsorption filter layer 37 before being discharged.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims

An intelligent welding robot based on machine vision, characterized in that the welding robot comprises an operation table (1), a support leg (2) is fixed at the bottom of the operation table (1), and a support leg (2) is fixed on the bottom of the operation table (1). An empty groove (3) is opened in the center of the surface, a rotatable welding table mechanism is installed inside the empty groove (3), and a heat dissipation mechanism is installed at the bottom of the rotatable welding table mechanism; the rotatable welding table mechanism includes A welding table (7), an adsorption and fixing mechanism is installed on the welding table (7); side grooves (19) are provided on both sides of the operating table (1), and the inside of the side grooves (19) on both sides respectively pass through The translation mechanism is provided with a welding fixing plate (23) and a smoking fixing plate (32), the welding fixing plate (23) is installed with a multi-directional adjustment welding mechanism, and the smoking fixing plate (32) is installed with a smoking purification mechanism.
The intelligent welding robot based on machine vision according to claim 1, characterized in that the rotatable welding table mechanism comprises a first motor (5), and the first motor (5) is located on the heat dissipation net (4). surface, the heat dissipation net (4) is embedded in the bottom of the hollow slot (3); the output end of the first motor (5) is drivingly connected to the first rotating shaft (6) through a coupling, the first motor (5) A welding table (7) is fixed on the top of a rotating shaft (6).
The intelligent welding robot based on machine vision according to claim 2, characterized in that, the heat dissipation mechanism comprises a mounting table (8), and the mounting table (8) is located below the empty groove (3), and the A second motor (9) is installed inside the mounting table (8), the output end of the second motor (9) is drivingly connected with the second rotating shaft (10) through a coupling, and the second rotating shaft (10) is A cooling fan blade (11) is fixed on the top.
The intelligent welding robot based on machine vision according to claim 2, wherein the adsorption and fixing mechanism comprises two L-shaped plates (12), and the two L-shaped plates (12) are symmetrically fixed on the welding table ( 7) At both ends of the upper surface, an automatic telescopic rod (13) is installed on the top of the L-shaped plate (12), and a pressing plate (14) is provided on the top of the automatic telescopic rod (13). 14) A flexible pad (15) is provided thereon; a suction cup (16) is embedded on the upper surface of the welding table (7), and a vacuum evacuation machine (17) is installed below the welding table (7). The suction port of the vacuum machine (17) is provided with a suction pipe (18) which is connected with the suction cup (16).
The intelligent welding robot based on machine vision according to claim 1, characterized in that the translation mechanism comprises a second motor (20), and the second motor (20) is installed on the outer side of the side slot (19) , the output end of the second motor (20) is drivingly connected with the second rotating shaft (21) through a coupling, the second rotating shaft (21) is rotatably installed inside the side groove (19), the first rotating shaft (21) A sliding block (22) is installed on the second rotating shaft (21) in a screw connection manner, and the welding fixing plate (23) and the smoking fixing plate (32) are respectively fixed on the sliding blocks (22) on both sides.
The intelligent welding robot based on machine vision according to claim 5, wherein the multi-directional adjustment welding mechanism comprises a first telescopic arm (24), and one end of the first telescopic arm (24) is rotatably mounted on the On the inner wall of the welding fixing plate (23), the other end of the first telescopic arm (24) is rotatably mounted with a second telescopic arm (25), the first telescopic arm (24) and the second telescopic arm (25) A first hydraulic telescopic push arm (30) is hingedly installed on the side wall of the ); a connecting rod (26) is rotatably installed on the top of the second telescopic arm (25), and the welding gun (27) is fixed to the connecting rod (26). A second hydraulic telescopic push arm (31) is hingedly installed on the side walls of the second telescopic arm (25) and the connecting rod (26); a cavity is opened inside the welding fixing plate (23), so A third motor (28) is installed in the cavity, the output end of the third motor (28) is drivingly connected with a third rotating shaft (29) through a coupling, and the third rotating shaft (29) is fixed by welding The plate (23) is fixedly connected with the first telescopic arm (24).
The intelligent welding robot based on machine vision according to claim 5, characterized in that the smoking purification mechanism comprises an induced draft fan (33) installed on the top of the smoking fixing plate (32), and the induced draft fan (33) The smoking port is provided with an air duct (34), and the air duct (34) passes through the smoking fixing plate (32) and is connected with a smoking hood (35), and the smoking hood (35) is located in the smoking hood (35). On the lower surface of the top of the fixing plate (32), the smoke outlet of the induced draft fan (33) is provided with an air outlet pipe (36), and the air outlet pipe (36) is connected with the adsorption filter layer (37).