Demonstration-free welding seam polishing equipment based on robot vision

Abstract

The utility model belongs to the technical field of visual robots, and provides teaching-free welding seam polishing equipment based on robot vision. The six-axis arm robot polishing device comprises a six-axis arm robot and a polishing head installed at the end of the six-axis arm robot, and further comprises a robot displacement mechanism, and a displacement table matched with the robot displacement mechanism is arranged at the bottom of the six-axis arm robot. The displacement table is arranged at the bottom of the six-axis arm robot, meanwhile, the robot displacement mechanism matched with the displacement table is additionally arranged, and movement of the six-axis arm robot in the transverse direction and the longitudinal direction is achieved based on the lead screw driving mechanisms (the first lead screw driving mechanism and the second lead screw driving mechanism) and the linkage mechanism. Therefore, the moving range and the machining range of the six-axis arm robot are expanded, and the problems existing in the prior art are solved. In addition, compared with a conventional track roller moving scheme, the structure based on the lead screw and the gear enables moving control to be finer.

Description

Technical Field

[0001] The utility model belongs to the technical field of visual robots, and specifically relates to a teaching-free weld grinding device based on robot vision. Background Art

[0002] In modern manufacturing, weld grinding robots are one of the important devices and equipment, mainly including robots and grinding equipment. Among them, the robot part generally adopts a mechanical arm, for example: a six-axis arm robot, which has a higher degree of freedom of movement and is suitable for the processing of weld surface grinding. Combined with robot vision, through 3D laser line scanning, it can be done without teaching, and is widely used in the field of welding processing. In the prior art, weld grinding robots mainly adopt fixed installation, the weld grinding robot is fixed, and the workpiece to be processed is processed on the processing table. It mainly has the following shortcomings: the processing range depends entirely on the operating range of the six-axis arm robot, and the scope of application is narrow, especially for medium and large steel structures to be processed such as super long, it is difficult to meet their processing needs. Utility Model Content

[0003] The utility model aims to provide a teaching-free weld grinding device based on robot vision to solve the technical problems existing in the prior art.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] A teaching-free weld grinding device based on robot vision comprises a six-axis arm robot and a grinding head installed at the end of the six-axis arm robot, and also comprises a robot displacement mechanism, wherein a displacement table cooperating with the robot displacement mechanism is arranged at the bottom of the six-axis arm robot; the robot displacement mechanism comprises a bearing platform, support panels symmetrically arranged on the left and right sides of the bearing platform, a guide rod installed between the two support panels and located at the upper part, a first screw drive mechanism and a second screw drive mechanism located at the lower part of the guide rod and arranged in parallel, and a linkage mechanism arranged between the first screw drive mechanism and the second screw drive mechanism; the bottom of the displacement table is sleeved on the guide rod and can move along the guide rod.

[0006] Furthermore, the first screw drive mechanism includes a first drive motor arranged on the outer side of the support panel on the left side, a first screw connected to the first drive motor, and a first screw bearing matched with the first screw.

[0007] Furthermore, the second screw drive mechanism includes a second drive motor arranged on the outer side of the support panel on the right side, a second screw connected to the second drive motor, and a second screw bearing matched with the second screw.

[0008] Furthermore, the linkage mechanism includes a first linkage gear directly located between the first screw rod and the second screw rod and meshing with the two, a connecting shaft with one end vertically connected to the first linkage gear, and a second linkage gear arranged at the other end of the connecting shaft, and the second linkage gear matches the displacement platform.

[0009] Furthermore, the translation platform includes a longitudinal guide rod located on the left side of the bottom, a sliding plate located on the right side of the bottom and having a longitudinal rack disposed on its inner side, an active cavity is obtained between the longitudinal guide rod and the sliding plate, and the second linkage gear is placed in the active cavity and meshes with the longitudinal rack.

[0010] Furthermore, two guide blocks sleeved on the guide rod are symmetrically arranged at the bottom of the displacement platform. The guide block on the left is provided with a first linkage block which is an integral structure with the guide block and is movably connected to the longitudinal guide rod, and the guide block on the right is provided with a second linkage block which is an integral structure with the guide block and is movably connected to the sliding plate.

[0011] Furthermore, the longitudinal guide rod passes through the first linkage block and can move in the longitudinal direction, the inner side of the second linkage block is provided with a longitudinal groove, and the sliding plate is embedded in the longitudinal groove and can move in the longitudinal direction.

[0012] Furthermore, a connecting block connected to the two guide blocks is provided between the two guide blocks, and the connecting shaft passes through the connecting block.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] The utility model is based on a six-axis arm robot and a grinding head installed at the end of the six-axis arm robot, a translation platform is arranged at the bottom of the six-axis arm robot, and at the same time, a robot displacement mechanism used in conjunction with the translation platform is added, and based on a screw drive mechanism (a first screw drive mechanism, a second screw drive mechanism) and a linkage mechanism, the six-axis arm robot can be moved in the lateral and longitudinal directions, thereby expanding the activity range and processing range of the six-axis arm robot and solving the problems existing in the prior art; in addition, compared with the conventional track roller movement scheme, the structure based on the screw and gear of the utility model can make the movement control more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model.

[0016] Figure 2 It is a structural schematic diagram of the displacement stage and the robot displacement mechanism in the utility model.

[0017] The names corresponding to the reference numerals are as follows: 1-six-axis arm robot, 2-grinding head, 3-robot displacement mechanism, 4-displacement table, 5-carrying platform, 6-support panel, 7-guide rod, 8-first screw drive mechanism, 9-second screw drive mechanism, 10-linkage mechanism;

[0018] 41-longitudinal guide rod, 42-longitudinal rack, 43-sliding plate, 44-movable cavity, 45-guide block, 46-first linkage block, 47-second linkage block, 48-connecting block;

[0019] 81-first drive motor, 82-first screw rod, 83-first screw rod bearing;

[0020] 91-second drive motor, 92-second screw rod, 93-second screw rod bearing;

[0021] 101 - first linkage gear, 102 - connecting shaft, 103 - second linkage gear. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to have a clearer understanding and knowledge of the present invention, the present invention is further described in detail in conjunction with the following embodiments. It should be noted that the specific embodiments described below are only used to explain the present invention and facilitate understanding. The technical solutions provided by the present invention are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present invention.

[0023] Example

[0024] like Figure 1 and 2 As shown, this embodiment provides a teaching-free weld grinding equipment based on robot vision, including a six-axis arm robot and a grinding head installed at the end of the six-axis arm robot, and is also equipped with a 3D laser line scanning device. The above structures can adopt existing mature equipment, so they are not described here.

[0025] In this embodiment, a displacement platform cooperating with the robot displacement mechanism is provided at the bottom of the six-axis arm robot, and a robot displacement mechanism is additionally provided to match it, and the robot displacement mechanism and the displacement platform are used in coordination.

[0026] In this embodiment, the robot displacement mechanism includes a carrying platform, support panels symmetrically arranged on the left and right sides of the carrying platform, a guide rod installed between the two support panels and located at the upper part, a first screw drive mechanism and a second screw drive mechanism located at the lower part of the guide rod and arranged in parallel, and a linkage mechanism arranged between the first screw drive mechanism and the second screw drive mechanism. Preferably, there are two guide rods and they are arranged in parallel; wherein, the carrying platform mainly provides installation space for other components. At the same time, through holes are opened at the four corners of the carrying platform to facilitate the fixing of the carrying platform with conventional structures such as bolts. When processing medium and large steel structure workpieces, the carrying platform is arranged along the length direction of the steel structure workpiece.

[0027] The first screw drive mechanism and the second screw drive mechanism have the same structure and are named separately here for the convenience of distinction. The first screw drive mechanism includes a first drive motor arranged on the outside of the support panel on the left, a first screw connected to the first drive motor, and a first screw bearing matching the first screw; the second screw drive mechanism includes a second drive motor arranged on the outside of the support panel on the right, a second screw connected to the second drive motor, and a second screw bearing matching the second screw.

[0028] The first drive motor and the second drive motor are respectively fixed on the outer sides of the left and right support panels; the output shafts of the first drive motor and the second drive motor pass through the support panels and are respectively connected to one end of the first screw rod and the second screw rod through a coupling, which belongs to the existing conventional structure and will not be described here; the first screw rod bearing and the second screw rod bearing are fixed on the bearing platform, which are used to support the screw rod; in this embodiment, the first screw rod and the second screw rod are arranged in parallel and symmetrically.

[0029] The linkage mechanism includes a first linkage gear located directly at the first screw rod and the second screw rod and meshing with the two, a connecting shaft at one end vertically connected to the first linkage gear, and a second linkage gear arranged at the other end of the connecting shaft; the first linkage gear and the second linkage gear move together, when the first linkage gear rotates, it drives the second linkage gear to rotate through the connecting shaft, and when the first linkage gear does not rotate, the second linkage gear does not rotate.

[0030] The upper part of the translation platform is fixedly connected to the six-axis arm robot, and the panel at the bottom adopts a frame structure. Specifically, the translation platform includes a longitudinal guide rod located on the left side of the bottom, a sliding plate located on the right side of the bottom and provided with a longitudinal rack on its inner side, and an active cavity is obtained between the longitudinal guide rod and the sliding plate. The second linkage gear is placed in the active cavity and meshes with the longitudinal rack, and the active cavity is arranged in the longitudinal direction. Longitudinal gaps or strip holes are reserved on the left and right sides of the translation platform, which are used to provide space for the sliding plate and the longitudinal guide rod to move in the longitudinal direction.

[0031] Two guide blocks sleeved on the guide rods are symmetrically arranged at the bottom of the displacement platform, a connecting block connected to the two guide blocks is arranged between the two guide blocks, the connecting shaft passes through the connecting block, and the connecting block and the two guide blocks form an integrated structure.

[0032] A first linkage block movably connected to the longitudinal guide rod is provided on the guide block on the left, and a second linkage block movably connected to the sliding plate is provided on the guide block on the right; preferably, the longitudinal guide rod passes through the first linkage block and can move longitudinally, a longitudinal groove is provided on the inner side of the second linkage block, and the sliding plate is embedded in the longitudinal groove and can move longitudinally.

[0033] The utility model mainly has two working modes: one is a lateral movement mode, the first drive motor and the second drive motor are started, and the first drive motor and the second drive motor respectively drive the first screw rod and the second screw rod to rotate. In this movement mode, the first linkage gear located between the first screw rod and the second screw rod does not rotate, and according to the positive / reverse rotation of the first drive motor and the second drive motor, the first linkage gear moves left / right in the lateral direction, driving the translation platform to move left / right in the lateral direction, thereby realizing the movement of the six-axis arm robot in the lateral direction; the second is a longitudinal movement mode, the first drive motor and the second drive motor are started, and the first drive motor and the second drive motor respectively drive the first screw rod and the second screw rod to rotate. In this movement mode, the first linkage gear located between the first screw rod and the second screw rod rotates in place (does not move in the lateral direction), driving the second linkage gear to rotate, the second linkage gear rotates and meshes with the longitudinal rack, driving the translation platform to move longitudinally relative to the guide block, and according to the positive / reverse rotation of the first drive motor and the second drive motor, the first linkage gear drives the second linkage gear to rotate clockwise or counterclockwise, thereby driving the translation platform to move forward / backward in the longitudinal direction relative to the guide block, thereby realizing the movement of the six-axis arm robot in the longitudinal direction.

[0034] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A teaching-free weld grinding device based on robot vision, comprising a six-axis arm robot (1) and a grinding head (2) mounted at the end of the six-axis arm robot (1), characterized in that: The robot also comprises a robot displacement mechanism (3), wherein a displacement platform (4) cooperating with the robot displacement mechanism (3) is arranged at the bottom of the six-axis arm robot (1); the robot displacement mechanism (3) comprises a bearing platform (5), support panels (6) symmetrically arranged on the left and right sides of the bearing platform (5), a guide rod (7) installed between the two support panels (6) and located at the upper part, a first screw drive mechanism (8) and a second screw drive mechanism (9) located at the lower part of the guide rod (7) and arranged in parallel, and a linkage mechanism (10) arranged between the first screw drive mechanism (8) and the second screw drive mechanism (9); the bottom of the displacement platform (4) is sleeved on the guide rod (7) and can move along the guide rod (7).

2. The robot vision-based teaching-free weld grinding equipment according to claim 1 is characterized in that: The first screw drive mechanism (8) comprises a first drive motor (81) arranged outside the support panel (6) on the left side, a first screw (82) connected to the first drive motor (81), and a first screw bearing (83) matched with the first screw (82).

3. The robot vision-based teaching-free weld grinding equipment according to claim 2 is characterized in that: The second screw drive mechanism (9) comprises a second drive motor (91) arranged outside the support panel (6) on the right side, a second screw (92) connected to the second drive motor (91), and a second screw bearing (93) matched with the second screw (92).

4. The robot vision-based teaching-free weld grinding equipment according to claim 3 is characterized in that: The linkage mechanism (10) comprises a first linkage gear (101) directly located between the first screw rod (82) and the second screw rod (92) and meshing with the two, a connecting shaft (102) with one end vertically connected to the first linkage gear (101), and a second linkage gear (103) arranged at the other end of the connecting shaft (102), wherein the second linkage gear (103) matches the translation platform (4).

5. The robot vision-based teaching-free weld grinding equipment according to claim 4 is characterized in that: The translation platform (4) comprises a longitudinal guide rod (41) located on the left side of the bottom, a sliding plate (43) located on the right side of the bottom and provided with a longitudinal rack (42) on the inner side thereof, an active cavity (44) is formed between the longitudinal guide rod (41) and the sliding plate (43), and the second linkage gear (103) is placed in the active cavity (44) and meshes with the longitudinal rack (42).

6. The robot vision-based teaching-free weld grinding equipment according to claim 5, characterized in that: Two guide blocks (45) sleeved on the guide rod (7) are symmetrically arranged at the bottom of the displacement platform (4). The guide block (45) located on the left side is provided with a first linkage block (46) which is an integral structure with the guide block and is movably connected to the longitudinal guide rod (41), and the guide block (45) located on the right side is provided with a second linkage block (47) which is an integral structure with the guide block and is movably connected to the sliding plate (43).

7. The robot vision-based teaching-free weld grinding equipment according to claim 6 is characterized in that: The longitudinal guide rod (41) passes through the first linkage block (46) and can move in the longitudinal direction. The inner side of the second linkage block (47) is provided with a longitudinal groove. The sliding plate (43) is embedded in the longitudinal groove and can move in the longitudinal direction.

8. The robot vision-based teaching-free weld grinding device according to claim 7 is characterized in that: A connecting block (48) connected to the two guide blocks (45) is provided between the two guide blocks (45), and the connecting shaft (102) passes through the connecting block (48).

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