A real-time welding seam tracking device based on laser vision

Abstract

The present invention provides a real-time tracking device for welds based on laser vision, comprising a welding equipment body, a bearing structure is provided on the side of the welding equipment body; a moving structure is provided on the top side of the bearing structure; a clamping structure is slidably connected to the other side of the bearing structure; a positioning structure is connected between the clamping structure and the bearing structure; a fixing structure is provided on the top side of the clamping structure; a cleaning structure is fixedly connected to the bottom side of the welding equipment body; the steel plates to be welded can be placed horizontally through the bearing structure to ensure the accuracy of welding, the moving structure can facilitate the movement of steel plates with larger areas, the clamping structure can keep the welding sides of two fixed steel plates parallel, the fixing structure can adjust the width of the weld, the positioning structure can accurately adjust the weld between the steel plates, and the cleaning structure can clean dust on the welding part.

Description

Technical Field

[0001] The invention belongs to the technical field of real-time welding seam tracking, in particular to a real-time welding seam tracking device based on laser vision. Background Art

[0002] Laser vision-based weld tracking technology uses laser and camera capture to obtain the 3D position of the weld between welded plates, and then uses a computer to autonomously adjust the welding position, achieving intelligent unmanned welding while ensuring welding accuracy and improving welding process efficiency.

[0003] However, when using laser vision-based real-time weld tracking devices for plate welding, the steel plates to be welded are usually placed directly together. If the area of ​​the steel plates is large, it is difficult to ensure the relative parallelism of the welding surfaces between the steel plates, which may still cause a decrease in welding quality. At the same time, if the welded steel plates are non-rectangular special-shaped structures, it is inconvenient to adjust the placement of the steel plates during linear welding. During the welding process, impurities on the steel plates will also affect the equipment's real-time sampling and tracking of the welds. Summary of the invention

[0004] In view of the problems in the prior art, the present invention provides a real-time welding seam tracking device based on laser vision.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A real-time welding seam tracking device based on laser vision comprises a welding equipment body, wherein a bearing structure is arranged on the side of the welding equipment body; a moving structure is arranged on the top side of the bearing structure; a clamping structure is slidably connected to the other side of the bearing structure; a positioning structure is connected between the clamping structure and the bearing structure; a fixing structure is arranged on the top side of the clamping structure; and a cleaning structure is fixedly connected to the bottom side of the welding equipment body.

[0007] Specifically, the bearing structure includes a support base, which is fixedly connected to the welding equipment body, two table plates are symmetrically fixedly connected to the top of the support base, and a mounting arm is vertically fixedly connected to the other side of the support base.

[0008] Specifically, the movable structure includes a lifting block, a plurality of lifting blocks are slidably connected inside the table, a pulley is rotatably connected to the top of the lifting block, a first spring is fixedly connected between the lifting block and the table, a support rod is slidably fitted on the inner side of the table, a first adjusting rod is abutted on the side of the support rod, the first adjusting rod is threadedly connected to the table, a plurality of driving protrusions are vertically fixedly connected to the side of the support rod, and the plurality of driving protrusions are in one-to-one abutment with the plurality of lifting blocks.

[0009] Specifically, the clamping structure includes a slide groove, a slide groove is opened on the side of the mounting arm, the mounting arm is slidably matched with a mounting slider through the slide groove, the side of the mounting slider is rotatably connected to a fixed side rod, the two ends of the fixed side rod are respectively rotatably connected to a second clamping block, the side of the second clamping block is rotatably connected to the first clamping block, the side of the first clamping block is fixedly connected to a pressure pad, a torsion spring is fixedly connected between the first clamping block and the second clamping block, and the bottom ends of both sides of the fixed side rod are respectively slidably connected to a bearing plate.

[0010] Specifically, the fixed structure includes a friction pad, the top end of the fixed side rod is fixedly connected to the friction pad, the side of the friction pad abuts against an oblique push block, the oblique push block is slidably connected to the mounting slider, the top side of the oblique push block abuts against a third adjusting rod, and the third adjusting rod is threadedly connected to the mounting slider.

[0011] Specifically, the positioning structure includes an inner ring, the side surface of the mounting slider is rotatably connected to the inner ring, the mounting arm passes through the inner ring, the outer side of the inner ring is slidably matched with a control ring, the inner part of the inner ring is slidably connected with a plurality of threaded blocks, the side surface of the threaded block is threadedly matched with the side surface of the mounting arm, a third spring is fixedly connected between the threaded block and the inner ring, an inclined groove is provided on the inner side of the control ring, the threaded block is slidably connected to the control ring by writing the inclined groove, a positioning rod is slidably connected to the outer side surface of the inner ring, a second spring is fixedly connected between the positioning rod and the inner ring, the end of the positioning rod is slidably connected to the control ring, the end of the positioning rod abuts against a pressing rod, and the pressing rod is slidably connected to the control ring.

[0012] Specifically, the cleaning structure includes a mounting block, which is mounted on the bottom side of the welding equipment body, and the inner side of the mounting block is rotatably connected to a fixed shell, a motor is mounted on the fixed shell, a blade is fixedly connected to the end of the motor, a worm gear is fixedly connected to the end of the fixed shell, a worm is meshed on the side of the worm gear, a second adjusting rod is fixedly connected to the side of the worm, and the second adjusting rod is rotatably connected to the mounting block.

[0013] The beneficial effects of the present invention are:

[0014] (1) The laser vision-based real-time weld tracking device described in the present invention has a bearing structure on the side of the welding equipment body, and a moving structure on the top of the bearing structure. The steel plates to be welded can be placed horizontally by the bearing structure to ensure the accuracy of welding. The moving structure can facilitate the movement of steel plates with larger areas, thereby facilitating the removal and placement of the steel plates. That is, first, one of the steel plates to be welded is placed on the surface of the two table plates on the top side of the support seat to ensure the flatness of the steel plate. The support seat is fixedly connected to the welding equipment body to improve the accuracy of welding. The area of ​​the placed steel plate is large, and it is not convenient to place and remove it directly on the surface of the table top. The user can rotate the first adjusting rod on the side of the table top so that the end of the first adjusting rod pushes the support rod inside the table top to slide. A driving protrusion is provided on the side of the support rod. When sliding, the driving protrusion will push the bottom oblique side surface of the corresponding lifting block, so that the lifting block moves a small distance, and finally the pulley at the end of the lifting block protrudes from the surface of the table top. At this time, the steel plate placed on the surface of the table top is only supported by the pulley, and the user can directly slide the steel plate to facilitate the movement of the steel plate.

[0015] (2) The laser vision-based real-time welding seam tracking device described in the present invention has a clamping structure slidably connected to the other side of the bearing structure, and a fixed structure is provided on the top side of the clamping structure; the clamping structure can be used to fix the other steel plate to be welded, and keep the welding sides of the two steel plates parallel, thereby improving the welding accuracy; the fixed structure can be used to conveniently move the steel plate that has been placed, thereby adjusting the width of the weld to meet different welding requirements, namely: when placing the steel plate on the other side, first place the steel plate on the surface of the two bearing plates arranged on the side of the fixed side rod, and the surface of the bearing plate is flush with the surface of the table plate to ensure the accuracy of the link; in order to prevent the bearing plate from blocking the weld of the two steel plates, the user can place the steel plate according to the width of the steel plate. The carrying plate slides to adjust the extended length, and then the mounting slide block slides together with the steel plate on the mounting arm until the welding sides of the two steel plates are completely fitted together. At this time, the other side of the steel plate is fixed by the first clamping block on both sides of the fixed side rod and the fixing clamp formed by the second clamping block, and the middle part of the fixed side rod can rotate around the mounting slide block, so as to ensure that the two fixing clamps can be stably fixed to the side edges of the steel plate, thereby ensuring the stability of the steel plate during welding. After completing the fixation of the side edges of the steel plate, in order to prevent the fixed side rod from continuing to rotate, the user can rotate the third adjusting rod on the top side so that the third adjusting rod squeezes the oblique push block, thereby making the oblique push block and the friction pad on the fixed side rod tightly contact each other, thereby maintaining the rotation state of the fixed side rod at this time.

[0016] (3) In the real-time weld tracking device based on laser vision described in the present invention, a positioning structure is connected between the clamping structure and the bearing structure; the weld between the steel plates can be accurately adjusted by the positioning structure, that is, after the steel plates are fixed, the two steel plates are in a state of conflict. According to different welding requirements, the user can also adjust the size of the gap between the steel plates. Since the steel plates have been fixed by the fixing clamps at both ends of the fixing side rod, the user can change the size of the weld by directly sliding the installation slider on the installation arm, and always keep the welding sides of the two steel plates in a parallel state. When there is a need to accurately adjust the size of the weld, the user can slide the control ring in the direction of the installation slider until the end of the positioning rod is engaged with the control ring. At this time, the threaded block on the inner side of the inner ring slides along the inclined groove until the threaded block is engaged with the side of the installation arm. At this time, the user can push the installation slider to move slowly by rotating the control ring to achieve accurate adjustment of the size of the weld. When the accurate adjustment state needs to be released, it is only necessary to press the pressing rod on the side of the control ring and pull the control ring back.

[0017] (4) In the real-time weld tracking device based on laser vision described in the present invention, a cleaning structure is fixedly connected to the bottom side of the welding equipment body; the cleaning structure can blow on the welding part in real time to clean the dust and impurities in the welding part, thereby ensuring the accuracy of the image acquired by the device, that is: the motor is electrically connected to the external power supply, and when the steel plate is welded, the motor drives the blades to rotate, thereby blowing away the dust and impurities at the weld of the steel plate in real time to avoid affecting the collection and analysis of the image. At the same time, the user can adjust the wind direction by turning the second adjustment lever to ensure a good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 A schematic diagram of the overall structure of a preferred embodiment of a real-time welding seam tracking device based on laser vision provided by the present invention;

[0020] Figure 2 for Figure 1 A schematic diagram of the connection structure of the clamping structure and the positioning structure shown;

[0021] Figure 3 for Figure 1 A schematic diagram of the connection structure between the bearing structure and the positioning structure shown;

[0022] Figure 4 for Figure 1 A schematic structural diagram of the clamping structure shown;

[0023] Figure 5 for Figure 4 An enlarged schematic diagram of the structure of section A is shown;

[0024] Figure 6 for Figure 1 A schematic diagram of the structure of the fixed side rod shown;

[0025] Figure 7 for Figure 1 A schematic diagram of the connection structure between the bearing structure and the mobile structure shown;

[0026] Figure 8 for Figure 7 The enlarged schematic diagram of the structure of part B is shown.

[0027] Fig. 9 for Figure 1 Schematic diagram of the connection structure of the welding equipment body and the cleaning structure shown.

[0028] In the figure: 1. welding equipment body, 2. bearing structure, 21. support seat, 22. mounting arm, 23. table, 3. moving structure, 31. pulley, 32. first adjusting rod, 33. supporting rod, 34. lifting block, 35. first spring, 36. driving protrusion, 4. cleaning structure, 41. mounting block, 42. second adjusting rod, 43. worm, 44. worm wheel, 45. fixed shell, 46. motor, 47. blade, 5. clamping structure , 51. Fixed side rod, 52. Loading plate, 53. Installing slider, 54. Slide groove, 55. First clamping block, 56. Second clamping block, 57. Pressure pad, 58. Torsion spring, 6. Positioning structure, 61. Control ring, 62. Inner ring, 63. Threaded block, 64. Bevel groove, 65. Pressing rod, 66. Positioning rod, 67. Second spring, 68. Third spring, 7. Fixed structure, 71. Third adjusting rod, 72. Oblique push block, 73. Friction pad. DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0030] like Figure 1-Figure 9 As shown, an embodiment of the present invention provides a real-time tracking device for welds based on laser vision, including a welding equipment body 1, a bearing structure 2 is provided on the side of the welding equipment body 1; a moving structure 3 is provided on the top side of the bearing structure 2; a clamping structure 5 is slidably connected to the other side of the bearing structure 2; a positioning structure 6 is connected between the clamping structure 5 and the bearing structure 2; a fixed structure 7 is provided on the top side of the clamping structure 5; and a cleaning structure 4 is fixedly connected to the bottom side of the welding equipment body 1.

[0031] like Figure 1-Figure 9As shown, the bearing structure 2 includes a support base 21, which is fixedly connected to the welding equipment body 1, and two table plates 23 are symmetrically fixedly connected to the two sides of the top of the support base 21, and the other side of the support base 21 is vertically fixedly connected to a mounting arm 22, that is: first, one of the steel plates to be welded is placed on the surface of the two table plates 23 on the top side of the support base 21 to ensure the flatness of the steel plate. The support base 21 is fixedly connected to the welding equipment body 1 to improve the accuracy of welding.

[0032] like Figure 1-Figure 9 As shown, the movable structure 3 includes a lifting block 34, and a plurality of lifting blocks 34 are slidably connected inside the table 23. The top of the lifting block 34 is rotatably connected to a pulley 31, and a first spring 35 is fixedly connected between the lifting block 34 and the table 23. A support rod 33 is slidably matched on the inner side of the table 23, and a first adjusting rod 32 is abutted on the side of the support rod 33. The first adjusting rod 32 is threadedly connected to the table 23, and a plurality of driving protrusions 36 are vertically fixedly connected to the side of the support rod 33. The plurality of driving protrusions 36 abut against the plurality of lifting blocks 34 one by one, that is, if the area of ​​the placed steel plate is large, it is not convenient to place it directly on the surface of the table 23 To place and remove the table 23, the user can rotate the first adjusting rod 32 located on the side of the table 23, so that the end of the first adjusting rod 32 pushes the support rod 33 located inside the table 23 to slide. The side of the support rod 33 is provided with a driving protrusion 36. When sliding, the driving protrusion 36 pushes the corresponding bottom inclined side surface of the lifting block 34, so that the lifting block 34 moves a small distance, and finally the pulley 31 at the end of the lifting block 34 protrudes from the surface of the table 23. At this time, the steel plate placed on the surface of the table 23 is only supported by the pulley 31, and the user can directly slide the steel plate to facilitate the movement of the steel plate.

[0033] like Figure 1-Figure 9As shown, the clamping structure 5 includes a slide groove 54, a slide groove 54 is opened on the side of the mounting arm 22, and the mounting arm 22 is slidably matched with a mounting slider 53 through the slide groove 54, and the side of the mounting slider 53 is rotatably connected to a fixed side rod 51, and the two ends of the fixed side rod 51 are respectively rotatably connected to a second clamping block 56, and the side of the second clamping block 56 is rotatably connected to a first clamping block 55, and the side of the first clamping block 55 is fixedly connected to a pressure pad 57, and a torsion spring 58 is fixedly connected between the first clamping block 55 and the second clamping block 56. The bottom ends of both sides of the fixed side rod 51 are respectively slidably connected to a bearing plate 52, that is, when placing the steel plate on the other side, first place the steel plate on the surface of the two bearing plates 52 arranged on the side of the fixed side rod 51, and the bearing The surface of the plate 52 is flush with the surface of the table 23 to ensure the accuracy of the links. In order for the supporting plate 52 to not block the welds of the two steel plates, the user can slide the supporting plate 52 to adjust the extended length according to the width of the steel plate when placing the steel plate, and then slide the mounting slide block 53 together with the steel plate on the mounting arm 22 until the welding sides of the two steel plates are completely fitted together. At this time, the fixing clamp formed by the first clamp block 55 and the second clamp block 56 on both sides of the fixed side rod 51 completes the fixation of the other side of the steel plate, and the middle part of the fixed side rod 51 can rotate around the mounting slide block 53, thereby ensuring that the two fixing clamps can be stably fixed to the side edges of the steel plate, thereby ensuring the stability of the steel plate during welding.

[0034] like Figure 1-Figure 9 As shown, the fixed structure 7 includes a friction pad 73, the top end of the fixed side rod 51 is fixedly connected with the friction pad 73, the side of the friction pad 73 is in contact with an oblique push block 72, the oblique push block 72 is slidably connected to the mounting slider 53, the top side of the oblique push block 72 is in contact with a third adjusting rod 71, and the third adjusting rod 71 is threadedly connected to the mounting slider 53, that is: after completing the fixation of the side of the steel plate, in order to prevent the fixed side rod 51 from continuing to rotate, the user can rotate the third adjusting rod 71 on the top side so that the third adjusting rod 71 squeezes the oblique push block 72, thereby making the oblique push block 72 tightly in contact with the friction pad 73 on the fixed side rod 51, thereby maintaining the rotation state of the fixed side rod 51 at this time.

[0035] like Figure 1-Figure 9As shown, the positioning structure 6 includes an inner ring 62, the side of the mounting slider 53 is rotatably connected to the inner ring 62, the mounting arm 22 passes through the inner ring 62, the outer side of the inner ring 62 is slidably matched with a control ring 61, the inner part of the inner ring 62 is slidably connected with a plurality of threaded blocks 63, the side of the threaded block 63 is threadedly matched with the side of the mounting arm 22, a third spring 68 is fixedly connected between the threaded block 63 and the inner ring 62, an inclined groove 64 is provided on the inner side of the control ring 61, and the threaded block 63 is screwed to the side of the mounting arm 22. The block 63 is slidably connected to the control ring 61 through the writing bevel groove 64, the outer side of the inner ring 62 is slidably connected with a positioning rod 66, a second spring 67 is fixedly connected between the positioning rod 66 and the inner ring 62, the end of the positioning rod 66 is slidably connected to the control ring 61, the end of the positioning rod 66 is in contact with a pressing rod 65, and the pressing rod 65 is slidably connected to the control ring 61, that is, after the steel plates are fixed, the two steel plates are in contact with each other, for different welding requirements , the user can also adjust the size of the gap between the steel plates. Since the steel plates have been fixed by the fixing clips at both ends of the fixed side rod 51, the user can change the size of the weld by directly sliding the mounting slider 53 on the mounting arm 22, and always keep the welding sides of the two steel plates in a parallel state. When there is a need to accurately adjust the size of the weld, the user can slide the control ring 61 in the direction of the mounting slider 53 until the end of the positioning rod 66 is engaged with the control ring 61. At this time, the threaded block 63 on the inner side of the inner ring 62 slides along the bevel groove 64 until the threaded block 63 is engaged with the side of the mounting arm 22. At this time, the user can push the mounting slider 53 to move slowly by rotating the control ring 61 to achieve accurate adjustment of the size of the weld. When the precise adjustment state needs to be released, just press the pressing rod 65 located on the side of the control ring 61 and pull the control ring 61 back.

[0036] like Figure 1-Figure 9As shown, the cleaning structure 4 includes a mounting block 41, which is mounted on the bottom side of the welding equipment body 1, and the inner side of the mounting block 41 is rotatably connected to a fixed shell 45, and the fixed shell 45 is installed with a motor 46, and the end of the motor 46 is fixedly connected to a blade 47, and the end of the fixed shell 45 is fixedly connected to a worm wheel 44, and the side of the worm wheel 44 is meshed with a worm 43, and the side of the worm 43 is fixedly connected to a second adjusting rod 42, and the second adjusting rod 42 is rotatably connected to the mounting block 41, that is, the motor 46 is electrically connected to an external power supply. When welding steel plates, the motor 46 drives the blade 47 to rotate, so as to blow away dust and impurities at the weld of the steel plate in real time to avoid affecting the collection and analysis of the image. At the same time, the user can adjust the wind direction by rotating the second adjusting rod 42 to ensure a good cleaning effect.

[0037] When the present invention is in use, first, one of the steel plates to be welded is placed on the surface of the two table plates 23 on the top side of the support seat 21 to ensure the flatness of the steel plate. The support seat 21 is fixedly connected to the welding equipment body 1 to improve the accuracy of welding. If the area of ​​the placed steel plate is large and it is inconvenient to place and remove it directly on the surface of the table plate 23, the user can rotate the first adjustment rod 32 on the side of the table plate 23 so that the end of the first adjustment rod 32 pushes the support rod 33 inside the table plate 23 to slide. A driving protrusion 36 is provided on the side of the support rod 33. When sliding, the driving protrusion 36 will push the bottom oblique side surface of the corresponding lifting block 34, thereby causing the lifting block 34 to move a small distance, and finally making the lifting block 34 move. The pulley 31 at the end of the lifting block 34 protrudes from the surface of the table 23. At this time, the steel plate placed on the surface of the table 23 is only supported by the pulley 31, and the user can directly slide the steel plate to facilitate the movement of the steel plate. When placing the steel plate on the other side, first place the steel plate on the surface of the two supporting plates 52 set on the side of the fixed side rod 51. The surface of the supporting plate 52 is flush with the surface of the table 23 to ensure the accuracy of the link. In order to prevent the supporting plate 52 from blocking the weld of the two steel plates, the user can slide the supporting plate 52 to adjust the extended length according to the width of the steel plate when placing the steel plate, and then slide the installation slider 53 together with the steel plate on the installation arm 22 until the welding sides of the two steel plates are completely fitted together. At this time, through The fixing clamps formed by the first clamping blocks 55 and the second clamping blocks 56 on both sides of the fixed side rod 51 complete the fixation of the other side of the steel plate. The middle part of the fixed side rod 51 can rotate around the mounting slider 53, thereby ensuring that the two fixing clamps can be stably fixed to the side edges of the steel plate to ensure the stability of the steel plate during welding. After completing the fixation of the side edges of the steel plate, in order to prevent the fixed side rod 51 from continuing to rotate, the user can rotate the third adjusting rod 71 on the top side so that the third adjusting rod 71 squeezes the oblique push block 72, thereby making the oblique push block 72 and the friction pad 73 on the fixed side rod 51 tightly contact each other, thereby maintaining the rotation state of the fixed side rod 51 at this time. After completing the fixation of the steel plate, the two steel plates are in a state of contact with each other. For different welding requirements, the user can also adjust the size of the gap between the steel plates. Since the steel plates have been fixed by the fixing clamps at both ends of the fixed side rod 51, the user can change the size of the weld by directly sliding the mounting slider 53 on the mounting arm 22, and always keep the welding sides of the two steel plates in a parallel state. When there is a need to accurately adjust the size of the weld, the user can slide the control ring 61 in the direction of the mounting slider 53 until the end of the positioning rod 66 is engaged with the control ring 61. At this time, the threaded block 63 on the inner side of the inner ring 62 slides along the bevel groove 64 until the threaded block 63 is engaged with the side of the mounting arm 22. At this time, the user can push the mounting slider 53 to move slowly by rotating the control ring 61.To achieve precise adjustment of the size of the weld, and to release the precise adjustment state, just press the pressing rod 65 on the side of the control ring 61 and pull the control ring 61 back; the motor 46 is electrically connected to the external power supply, and when welding the steel plate, the motor 46 drives the blade 47 to rotate, so as to blow away the dust and impurities at the weld of the steel plate in real time to avoid affecting the collection and analysis of the image. At the same time, the user can adjust the wind direction by rotating the second adjustment rod 42 to ensure a good cleaning effect.

[0038] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0039] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A real-time welding seam tracking device based on laser vision, Features: The device comprises a welding device body (1), wherein a bearing structure (2) is provided on the side of the welding device body (1); a moving structure (3) is provided on the top side of the bearing structure (2); a clamping structure (5) is slidably connected to the other side of the bearing structure (2); a positioning structure (6) is connected between the clamping structure (5) and the bearing structure (2); a fixing structure (7) is provided on the top side of the clamping structure (5); and a cleaning structure (4) is fixedly connected to the bottom side of the welding device body (1); The bearing structure (2) comprises a support seat (21), the support seat (21) being fixedly connected to the welding equipment body (1), two table plates (23) being symmetrically fixedly connected to both sides of the top of the support seat (21), and a mounting arm (22) being vertically fixedly connected to the other side of the support seat (21); The movable structure (3) comprises a lifting block (34), the interior of the table (23) is slidably connected with a plurality of lifting blocks (34), the top of the lifting block (34) is rotatably connected with a pulley (31), a first spring (35) is fixedly connected between the lifting block (34) and the table (23), a support rod (33) is slidably matched with the inner side of the table (23), the side of the support rod (33) abuts against a first adjustment rod (32), the first adjustment rod (32) is threadedly connected to the table (23), a plurality of driving protrusions (36) are vertically fixedly connected to the side of the support rod (33), and the plurality of driving protrusions (36) abut against the plurality of lifting blocks (34) in a one-to-one correspondence; The clamping structure (5) comprises a slide groove (54), a side surface of the mounting arm (22) is provided with a slide groove (54), the mounting arm (22) is slidably matched with a mounting slide block (53) through the slide groove (54), the side surface of the mounting slide block (53) is rotatably connected to a fixed side rod (51), both ends of the fixed side rod (51) are rotatably connected to a second clamping block (56), the side surface of the second clamping block (56) is rotatably connected to a first clamping block (55), the side surface of the first clamping block (55) is fixedly connected to a pressure pad (57), a torsion spring (58) is fixedly connected between the first clamping block (55) and the second clamping block (56), and the bottom ends of both sides of the fixed side rod (51) are slidably connected to a bearing plate (52); The fixing structure (7) comprises a friction pad (73), the top end of the fixed side rod (51) is fixedly connected to the friction pad (73), the side of the friction pad (73) abuts against an oblique push block (72), the oblique push block (72) is slidably connected to the mounting slide block (53), the top side of the oblique push block (72) abuts against a third adjustment rod (71), and the third adjustment rod (71) is threadedly connected to the mounting slide block (53); The positioning structure (6) comprises an inner ring (62), the side surface of the mounting slide block (53) is rotatably connected to the inner ring (62), the mounting arm (22) passes through the inner ring (62), the outer side of the inner ring (62) is slidably matched with a control ring (61), the inner part of the inner ring (62) is slidably connected to a plurality of threaded blocks (63), the side surface of the threaded block (63) is threadedly matched with the side surface of the mounting arm (22), a third spring (68) is fixedly connected between the threaded block (63) and the inner ring (62), an inclined groove (64) is provided on the inner side of the control ring (61), and the threaded block (63) is slidably connected to the control ring (61) via the inclined groove (64).

2. The real-time welding seam tracking device based on laser vision according to claim 1, Features: The outer side surface of the inner ring (62) is slidably connected to a positioning rod (66), a second spring (67) is fixedly connected between the positioning rod (66) and the inner ring (62), an end of the positioning rod (66) is slidably connected to the control ring (61), the end of the positioning rod (66) abuts against a pressing rod (65), and the pressing rod (65) is slidably connected to the control ring (61).

3. The real-time welding seam tracking device based on laser vision according to claim 1, Features: The cleaning structure (4) comprises a mounting block (41), wherein the mounting block (41) is mounted on the bottom side of the welding equipment body (1), a fixed shell (45) is rotatably connected to the inner side of the mounting block (41), a motor (46) is mounted on the fixed shell (45), and a blade (47) is fixedly connected to the end of the motor (46).

4. The real-time welding seam tracking device based on laser vision according to claim 3, Features: A worm wheel (44) is fixedly connected to the end of the fixed shell (45), a worm (43) is meshed on the side of the worm wheel (44), a second adjustment rod (42) is fixedly connected to the side of the worm (43), and the second adjustment rod (42) is rotationally connected to the mounting block (41).

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