A truss-type intelligent welding robot

Abstract

The present invention discloses a truss-type intelligent welding robot, which relates to the field of robotics. One end of a traveling truss assembly is connected to a linear guide rail assembly, and the other end of the traveling truss assembly is connected to a wheel-rail assembly. The linear guide rail assembly and the wheel-rail assembly are respectively coordinated with a drive assembly. A horizontal traverse assembly is arranged on the traveling truss assembly, and each vertical movement assembly is respectively arranged on a horizontal traverse assembly. A collaborative robot assembly and an industrial welding robot assembly are respectively arranged on a vertical movement assembly. The collaborative robot assembly is used to determine the weld position of a workpiece, and the industrial welding robot assembly welds the workpiece according to the weld position determined by the collaborative robot. The drive assembly drives the traveling truss assembly to move in the X direction, the horizontal traverse assembly can move in the Y direction, and the vertical drive assembly can move in the Z direction. The truss-type intelligent welding robot of the present invention realizes the welding of large or super-large non-standard metal structures, thereby improving production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a truss-type intelligent welding robot for large or super-large non-standard metal structural parts. Background Art

[0002] With the rapid development and continuous progress of China's manufacturing industry, welding technology has played an increasingly important role in industrial production, and the quality of welding technology directly affects the quality of products. In the production and processing of large steel gates, welding plays a very important role. The existing production process often adopts manual welding. Such excessive reliance on professional skilled talents will lead to increased production costs and low production efficiency. At the same time, welding will produce toxic gases and heat radiation, which will cause certain harm to the human body.

[0003] Therefore, there is an urgent need for a welding device suitable for large or super-large non-standard metal structural parts. Summary of the Invention

[0004] The purpose of the present invention is to provide a truss-type intelligent welding robot to solve the problems existing in the above-mentioned prior art, realize the welding of large or super-large non-standard metal structural parts, and improve production efficiency.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a truss-type intelligent welding robot, comprising a walking truss assembly, a linear guide rail assembly, a wheel-rail assembly, a collaborative robot assembly, an industrial welding robot assembly, two drive assemblies, two horizontal traverse assemblies and two vertical movement assemblies, one end of the walking truss assembly is connected to the linear guide rail assembly, the other end of the walking truss assembly is connected to the wheel-rail assembly, the linear guide rail assembly and the wheel-rail assembly are respectively coordinated with one of the drive assemblies, the horizontal traverse assembly is arranged on the walking truss assembly, each of the vertical movement assemblies is respectively arranged on one of the horizontal traverse assemblies, the collaborative robot assembly and the industrial welding robot assembly are respectively arranged on one of the vertical movement assemblies, the collaborative robot assembly is used to determine the weld position of a workpiece, and the industrial welding robot assembly welds the workpiece according to the weld position determined by the collaborative robot, the drive assembly drives the walking truss assembly to move along the X direction, the horizontal traverse assembly can move along the Y direction, and the vertical drive assembly can move along the Z direction.

[0007] Preferably, the collaborative robot assembly includes a collaborative robot, a laser line scan camera, an area array camera and a laser displacement sensor. The collaborative robot is arranged on one of the vertical moving assemblies. The laser line scan camera, the area array camera and the laser displacement sensor are all arranged on the collaborative robot. The laser line scan camera is used to scan the workpiece, the area array camera is used to take pictures of the workpiece, and the laser displacement sensor is used to detect the distance between the weld position and the area array camera.

[0008] Preferably, the industrial welding robot assembly includes an industrial welding robot and a welding gun, the industrial welding robot is arranged on one of the vertical moving assemblies, and the welding gun is arranged on the industrial welding robot.

[0009] Preferably, it also includes an industrial computer and a motion controller, the industrial computer is electrically connected to the collaborative robot, the laser line scan camera, the area array camera, the industrial welding robot and the motion controller respectively, and the motion controller is electrically connected to the laser displacement sensor, the drive assembly, the horizontal traverse assembly and the vertical movement assembly respectively.

[0010] Preferably, the walking truss assembly includes a main beam, a thigh, a calf, a linear guide rail end foot and a wheel-rail end foot, the horizontal traverse assembly can slide along the main beam, the length direction of the main beam is the Y direction, and a thigh is respectively provided at both ends of the main beam, and a calf is respectively provided at the lower end of the thigh, and the lower end of one calf is provided with the linear guide rail end foot, and one driving assembly drives the linear guide rail end foot to move along the X direction, and the lower end of another calf is provided with the wheel-rail end foot, and one driving assembly drives the wheel-rail end foot to move along the X direction.

[0011] Preferably, the linear guide assembly includes a double linear guide, a base plate, a movable connecting block, a dust cover, a dust cover bracket and a dust curtain. The length direction of the double linear guide is the X direction. The double linear guide is arranged on the base plate. The dust cover is arranged above the double linear guide through the dust cover bracket. Dust curtains are respectively provided on both sides of the dust cover. One end of the walking truss assembly is connected to the movable connecting block, and the movable connecting block is slidably connected to the double linear guide through the dust curtain.

[0012] Preferably, the wheel-rail assembly includes a track wheel, a track, a foot-end track cleaning piece and a cleaning piece pressure plate. The length direction of the track is the X direction. The track wheel is rotatably connected to the other end of the walking truss assembly, and the track wheel can roll along the track. The foot-end track cleaning piece is connected to the other end of the walking truss assembly through the cleaning piece pressure plate, and the lower end of the foot-end track cleaning piece is in contact with the track.

[0013] Preferably, the two drive assemblies are respectively arranged on one side of the linear guide assembly and the wheel-rail assembly, and the drive assembly includes a servo motor, a reducer, a gear, a rack and a pad bracket. The body of the reducer is arranged on the linear guide assembly or the wheel-rail assembly, the gear is connected to the servo motor through the reducer, the rack is arranged on the pad bracket, and the gear is engaged with the rack.

[0014] Preferably, the horizontal transverse movement assembly includes a transverse linear guide, a transverse movement plate, a transverse movement drive servo motor, a transverse movement drive reducer, a transverse movement drive gear, a transverse movement rack and a transverse movement drag chain. The transverse linear guide and the transverse movement rack are arranged on the walking truss assembly. The transverse movement plate is slidingly connected to the transverse linear guide, the body of the transverse movement drive reducer is connected to the transverse movement plate, the transverse movement drive servo motor is connected to the transverse movement drive gear through the transverse movement drive reducer, the transverse movement drive gear is engaged with the transverse movement rack, and the transverse movement drag chain is connected to the transverse movement plate.

[0015] Preferably, the vertical movement assembly includes a vertical movement linear guide, a lifting drive servo motor, a vertical movement reducer, a vertical movement gear, a vertical movement rack, a vertical movement column and a vertical movement drag chain. The length direction of the vertical movement linear guide is the Z direction. The vertical movement linear guide and the vertical movement rack are provided on the vertical movement column. The body of the vertical movement reducer is connected to the horizontal lateral movement assembly. The lifting drive servo motor is connected to the vertical movement gear through the vertical movement reducer. The vertical movement gear is meshed with the vertical movement rack. The vertical movement linear guide is slidably connected to the horizontal lateral movement assembly, and the vertical movement drag chain is connected to the vertical movement column.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The present invention determines the weld position of a workpiece through a collaborative robot assembly, and welds the workpiece according to the weld position determined by the collaborative robot through an industrial welding robot assembly. The collaborative robot assembly and the industrial welding robot assembly realize the movement of functional equipment along the X, Y and Z directions through a walking truss assembly, a linear guide assembly, a wheel-rail assembly, a drive assembly, a horizontal traverse assembly and a vertical movement assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a schematic diagram of the truss-type intelligent welding robot of the present invention;

[0020] Figure 2 Schematic diagram of the traveling truss assembly, horizontal traverse assembly and vertical movement assembly of the present invention;

[0021] Figure 3 Schematic diagram of the linear guide assembly of the present invention;

[0022] Figure 4 is a schematic diagram of the wheel-rail assembly of the present invention;

[0023] Figure 5 Schematic diagram of the drive assembly of the present invention;

[0024] Figure 6 Schematic diagram of the horizontal traverse assembly of the present invention;

[0025] Figure 7 Schematic diagram of the vertical movement assembly of the present invention;

[0026] Figure 8 Schematic diagram of the collaborative robot assembly of the present invention;

[0027] Figure 9 Schematic diagram of the industrial welding robot assembly of the present invention;

[0028] Figure 10 Schematic diagram of the control system of the present invention;

[0029] Figure 11 This is a working diagram of the truss-type intelligent welding robot of the present invention;

[0030] Among them: 100-truss type intelligent welding robot, 1-1: walking truss assembly, 1-2: linear guide rail assembly, 1-3: wheel rail assembly, 1-4: drive assembly, 1-5: main control cabinet, 1-6: collaborative robot assembly, 1-7: industrial welding robot assembly; 2-1: main beam, 2-2: thigh, 2-3: calf, 2-4: linear guide rail end foot, 2-5: wheel rail end foot, 2-6: horizontal traverse assembly, 2-7: vertical Linear motion assembly; 3-1: Dual linear guide rails, 3-2: Base plate, 3-3: Mobile connecting block, 3-4: Dust cover, 3-5: Dust cover bracket, 3-6: Dust curtain, 3-7: Pressure strip; 4-1: Track wheel, 4-2: Wheel axle, 4-3: Track, 4-4: Foot end track cleaning sheet, 4-5: Cleaning sheet pressure plate; 5-1: Servo motor, 5-2: Reducer, 5-3: Gear, 5-4: Rack, 5-5: Rack pad Block, 5-6: Pad bracket, 5-7: Adjustment screw; 6-1: Transverse linear guide, 6-2: Guide rail pad, 6-3: Transverse plate, 6-4: Transverse drive servo motor, 6-5: Transverse drive reducer, 6-6: Transverse drive gear, 6-7: Transverse rack, 6-8: Transverse drag chain, 6-9: Transverse drag chain bracket; 7-1: Lifting drive servo motor, 7-2: Vertical movement reducer, 7-3: Vertical movement gear, 7-4: Vertical movement rack, 7-5: Vertical movement column, 7-6: Vertical movement drag chain, 8-1: Collaborative robot, 8-2: Camera bracket, 8-3: Laser line scan camera, 8-4: Area array camera, 8-5 Laser displacement sensor, 8-6: Collaborative robot control box, 8-7: Industrial computer control cabinet, 9-1: Industrial welding robot, 9-2: Welding gun, 9-3: Industrial welding robot control box, 9-4: Welding machine integrated system. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The purpose of the present invention is to provide a truss-type intelligent welding robot to solve the problems existing in the above-mentioned prior art, realize the welding of large or super-large non-standard metal structural parts, and improve production efficiency.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 10As shown: This embodiment provides a truss-type intelligent welding robot 100, which is suitable for small, large or super-large non-standard metal structures, and is also suitable for standard metal structures, including a walking truss assembly 1-1, a linear guide assembly 1-2, a wheel-rail assembly 1-3, a collaborative robot assembly 1-6, an industrial welding robot assembly 1-7, two drive assemblies 1-4, two horizontal traverse assemblies 2-6 and two vertical movement assemblies 2-7. One end of the walking truss assembly 1-1 is connected to the linear guide assembly 1-2, and the other end of the walking truss assembly 1-1 is connected to the wheel-rail assembly 1-3. The linear guide assembly 1-2 and the wheel-rail assembly 1-3 are respectively connected to a drive assembly 1-4. In coordination, the horizontal traverse assembly 2-6 is arranged on the walking truss assembly 1-1, and each vertical moving assembly 2-7 is respectively arranged on a horizontal traverse assembly 2-6. The collaborative robot assembly 1-6 and the industrial welding robot assembly 1-7 are respectively arranged on a vertical moving assembly 2-7. The collaborative robot assembly 1-6 is used to determine the weld position of the workpiece, and the industrial welding robot assembly 1-7 welds the workpiece according to the weld position determined by the collaborative robot 8-1. The drive assembly 1-4 drives the walking truss assembly 1-1 to move along the X direction, the horizontal traverse assembly 2-6 can move along the Y direction, and the vertical drive assembly 1-4 can move along the Z direction. The three directions constitute a spatial rectangular coordinate system.

[0035] Specifically, in this embodiment, the collaborative robot assembly 1-6 includes a collaborative robot 8-1, a laser line scan camera 8-3, an area array camera 8-4, and a laser displacement sensor 8-5. The collaborative robot 8-1 is arranged on a vertical moving assembly 2-7, and the vertical moving assembly 2-7 is also provided with an industrial computer control cabinet 8-7 and a collaborative robot control box 8-6. The collaborative robot 8-1 realizes movement in the X, Y and Z directions along with the drive assembly 1-4, the horizontal traverse assembly 2-6 and the vertical moving assembly 2-7. The camera bracket 8-2 is installed at the end of the collaborative robot 8-1. The laser line scan camera 8-3, the area array camera 8-4 and the laser displacement sensor 8-5 are all arranged on the camera bracket 8-2. The laser line scan camera 8-3 is used to scan the workpiece, the area array camera 8-4 is used to take pictures of the workpiece, and the laser displacement sensor 8-5 is used to detect the distance between the weld position and the area array camera 8-4. The collaborative robot control box 8-6 controls the movement of each axis of the collaborative robot 8-1 and the trajectory solution. The collaborative robot 8-1 can control the movement and posture of the laser line scan camera 8-3 and the area array camera 8-4 according to the requirements of the industrial computer.

[0036] In this embodiment, the industrial welding robot assembly 1-7 includes an industrial welding robot 9-1 and a welding gun 9-2. The industrial welding robot 9-1 is arranged on a vertical moving assembly 2-7. The vertical moving assembly 2-7 is also provided with an industrial welding robot control box 9-3 and a welding machine integrated system 9-4. The industrial welding robot control box 9-3 controls the movement of each axis of the industrial welding robot 9-1, and the welding gun 9-2 is arranged on the industrial welding robot 9-1.

[0037] This embodiment also includes an industrial computer and a motion controller. The industrial computer is located in the industrial computer control cabinet 8-7. The industrial computer is electrically connected to the touch display, collaborative robot 8-1, laser line scan camera 8-3, area array camera 8-4, industrial welding robot 9-1 and motion controller respectively. The motion controller is electrically connected to the laser displacement sensor 8-5, drive assembly 1-4, horizontal traverse assembly 2-6 and vertical movement assembly 2-7 respectively.

[0038] In this embodiment, the touch display is installed on the main control cabinet 1-5, and the main control cabinet 1-5 is set on a lower leg 2-3 of the walking truss assembly 1-1. The touch display allows operators to view the real-time operation status of the equipment.

[0039] In this embodiment, the industrial computer is the core of the control system. It is responsible for issuing motion instructions for the walking truss assembly 1-1 and the posture of the collaborative robot 8-1. At the same time, it commands the laser line scan camera 8-3 and the area array camera 8-4 to achieve three-dimensional rapid reconstruction of large non-standard metal structural parts (i.e., workpieces), realize the identification and precise positioning of welds, communicate with the industrial welding robot 9-1, and issue welding instructions.

[0040] The motion controller of this embodiment is installed in the main control cabinet 1-5. On the one hand, it receives instructions from the industrial computer to control the servo systems of each axis of the drive assembly 1-4, the horizontal traverse assembly 2-6 and the vertical movement assembly 2-7, as well as the switching quantity of each structure. At the same time, it feeds back the position and status information of the servo system of each axis to the industrial computer, and collects the object distance information when the area array camera 8-4 takes pictures through the laser displacement sensor 8-5.

[0041] The laser line scan camera 8-3 of this embodiment is used to collect three-dimensional point cloud data of the workpiece. The industrial computer processes the collected point cloud data and quickly reconstructs a three-dimensional model of the workpiece. The constructed three-dimensional model is analyzed to find the area of ​​interest (ROI area, i.e., the possible area of ​​the weld). The collaborative robot 8-1 is used to move the array camera 8-4 to take a picture of the ROI area. At the same time, the motion controller collects the object distance data measured by the laser displacement sensor 8-5, analyzes the graphic information of the array camera 8-4, identifies the weld and determines its position, and refines the constructed three-dimensional model. Based on the extracted weld information, a welding instruction is issued to the industrial welding robot 9-1. If necessary, the walking truss assembly 1-1 where the industrial welding robot 9-1 is located can be moved first.

[0042] In this embodiment, the walking truss assembly 1-1 includes a main beam 2-1, a thigh 2-2, a calf 2-3, a linear guide rail end foot 2-4 and a wheel-rail end foot 2-5. The span of the main beam 2-1 is set according to actual needs. In this embodiment, the length of the main beam 2-1 is preferably 12 meters. The horizontal traverse assembly 2-6 can slide along the main beam 2-1. The length direction of the main beam 2-1 is the Y direction. A thigh 2-2 is respectively provided at both ends of the main beam 2-1, and a calf 2-3 is respectively provided at the lower end of the thigh 2-2. The lower end of each calf 2-3 is provided with a linear guide rail end foot 2-4. A driving assembly 1-4 drives the linear guide rail end foot 2-4 to slide along the double linear guide 3-1 of the linear guide rail assembly 1-2. The lower end of the other calf 2-3 is provided with a wheel-rail end foot 2-5. A driving assembly 1-4 drives the wheel-rail end foot 2-5 to move along the track 4-3 of the wheel-rail assembly 1-3.

[0043] In this embodiment, the linear guide assembly 1-2 includes a double linear guide 3-1, a base plate 3-2, a movable connecting block 3-3, a dust cover 3-4, a dust cover bracket 3-5 and a dust curtain 3-6. The length direction of the double linear guide 3-1 is the X direction. The double linear guide 3-1 is arranged on the base plate 3-2. The dust cover 3-4 is arranged above the double linear guide 3-1 through the dust cover bracket 3-5. Dust curtains 3-6 are respectively provided on both sides of the dust cover 3-4. The dust curtain 3-6 is connected to the dust cover 3-4 through a pressure strip 3-7. The linear guide end foot 2-4 is connected to the movable connecting block 3-3. The movable connecting block 3-3 passes through the dust curtain 3-6 and is slidably connected to the double linear guide 3-1.

[0044] In this embodiment, the wheel-rail assembly 1-3 includes a track wheel 4-1, a track 4-3, a foot-end track cleaning piece 4-4, and a cleaning piece pressure plate 4-5. The track 4-3 is a steel rail, and the longitudinal direction of the track 4-3 is the X direction. The track wheel 4-1 is a flat wheel, and the track wheel 4-1 is rotatably connected to the wheel-rail end foot 2-5 via the wheel axle 4-2, and the track wheel 4-1 can roll along the track 4-3. The foot-end track cleaning piece 4-4 is made of rubber and is connected to the wheel-rail end foot 2-5 via the cleaning piece pressure plate 4-5. The lower end of the foot-end track cleaning piece 4-4 contacts the track 4-3. In this embodiment, there are preferably two track wheels 4-1, and a foot-end track cleaning piece 4-4 is respectively provided on the front side of the front track wheel 4-1 and the rear side of the rear track wheel 4-1 for cleaning the track 4-3 during movement.

[0045] In this embodiment, the length of the double linear guide rails 3 - 1 of the linear guide rail assembly 1 - 2 and the length of the track 4 - 3 of the wheel-rail assembly 1 - 3 are set according to actual needs.

[0046] In this embodiment, the two drive assemblies 1-4 are respectively arranged on one side of the linear guide assembly 1-2 and the wheel-rail assembly 1-3. The drive assembly 1-4 includes a servo motor 5-1, a reducer 5-2, a gear 5-3, a rack 5-4 and a pad bracket 5-6. The body of the reducer 5-2 is arranged on the linear guide end foot 2-4 of the linear guide assembly 1-2 or the wheel-rail end foot 2-5 of the wheel-rail assembly 1-3. The gear 5-3 is connected to the servo motor 5-1 through the reducer 5-2. The rack 5-4, the rack spacer 5-5, and the spacer bracket 5-6 are connected by bolts that pass through the first mounting hole on the rack 5-4, the second mounting hole on the rack spacer 5-5, and the strip-shaped hole on the spacer bracket 5-6. The spacer bracket 5-6 is provided with several adjustment screws 5-7, which are located above the rack spacer 5-5. The adjustment screws 5-7 are used to adjust the horizontality of the rack spacer 5-5. The gear 5-3 is engaged with the rack 5-4, and the tooth surface of the rack 5-4 is set downward. When the drive assembly 1-4 drives the traveling truss assembly 1-1, the horizontal traverse assembly 2-6, and the vertical movement assembly 2-7 to move in the X direction, the servo motor 5-1 drives the gear 5-3 through the reducer 5-2 to move along the length of the rack 5-4, thereby achieving movement of the traveling truss assembly 1-1 in the X direction.

[0047] In this embodiment, the horizontal transverse movement assembly 2-6 includes a transverse linear guide 6-1, a transverse plate 6-3, a transverse drive servo motor 6-4, a transverse drive reducer 6-5, a transverse drive gear 6-6, a transverse rack 6-7 and a transverse drag chain 6-8. The transverse linear guide 6-1 and the transverse rack 6-7 are connected to the main beam 2-1 of the walking truss assembly 1-1 through the guide rail pad 6-2. The transverse plate 6-3 is slidingly connected to the transverse linear guide 6-1. The body of the transverse drive reducer 6-5 is connected to the transverse plate 6-3. The transverse drive servo motor 6-4 is connected to the transverse drive gear 6-6 through the transverse drive reducer 6-5. The transverse drive gear 6-6 is meshed with the transverse rack 6-7. The tooth surface of the transverse rack 6-7 is set downward. One end of the transverse drag chain 6-8 is connected to the transverse plate 6-3 through the transverse drag chain bracket 6-9. When the horizontal traverse assembly 2-6 and the vertical moving assembly 2-7 move along the Y direction, the traverse drive servo motor 6-4 drives the traverse drive gear 6-6 through the traverse drive reducer 6-5 to move along the length direction of the traverse rack 6-7, thereby realizing the movement of the horizontal traverse assembly 2-6 and the vertical moving assembly 2-7 along the Y direction.

[0048] In this embodiment, the vertical moving assembly 2-7 includes a vertical moving linear guide, a lifting drive servo motor 7-1, a vertical moving reducer 7-2, a vertical moving gear 7-3, a vertical moving rack 7-4, a vertical moving column 7-5 and a vertical moving drag chain 7-6. The length direction of the vertical moving linear guide is the Z direction. A vertical moving linear guide and a vertical moving rack 7-4 are provided on one side of the vertical moving column 7-5. The other side of the vertical moving column 7-5 is used to install the collaborative robot assembly 1-6 and the industrial welding robot assembly 1-7. The body of the vertical moving reducer 7-2 is connected to the transverse plate 6-3 of the horizontal transverse moving assembly 2-6. The lifting drive servo motor 7-1 is connected to the vertical moving gear 7-3 through the vertical moving reducer 7-2. The vertical moving gear 7-3 is engaged with the vertical moving rack 7-4. The vertical moving linear guide is slidably connected to the slider on the transverse plate 6-3 of the horizontal transverse moving assembly 2-6. One end of the vertical moving drag chain 7-6 is connected to the vertical moving column 7-5.

[0049] Due to the long travel distances in the X, Y, and Z directions, this embodiment utilizes a servo motor + planetary gear reducer system for all three axes, supplemented by a gear and rack drive system. Due to the large span of the traveling truss assembly 1-1, a dual-axis synchronous drive system is employed. Specifically, servo motors 5-1, reducers 5-2, gears 5-3, and racks 5-4 of the same size and model are installed on the linear guide rail end legs 2-4 and the wheel rail end legs 2-5 on both sides of the traveling truss assembly 1-1. These are driven synchronously by the control system in the electrical control cabinet 1-5, ensuring smooth movement of the traveling truss assembly 1-1, the horizontal traverse assembly 2-6, and the vertical travel assembly 2-7.

[0050] The travel direction constraint of the traveling truss assembly 1-1 in this embodiment utilizes a fixed-end, sliding-end fixing method. Specifically, the linear guide rail end legs 2-4 of the traveling truss assembly 1-1 utilize linear guide rails to ensure the direction of travel; the wheel rail end legs 2-5 utilize a track and track wheel arrangement. The track wheel 4-1 can roll back and forth on the track 4-3, while there is no constraint between the wheel axle 4-2 and the track 4-3, allowing for some sliding. This structural design reduces manufacturing and assembly precision while also accommodating changes in the environment and temperature.

[0051] The linear guide assembly 1-2 of this embodiment utilizes a dual linear guide 3-1 structure to meet the dual requirements of load-bearing and dust protection. The dual linear guides 3-1 are mounted on a base plate 3-2. Dust cover brackets 3-5 are fixed in the gaps between the dual linear guides 3-1. A dust cover 3-4 is fixed atop the dust cover brackets 3-5, leaving space on both sides to facilitate the sliding of the movable connecting block 3-3. To further enhance dust protection, strip-shaped dust curtains 3-6 are installed on either side of the dust cover 3-4, facilitating the sliding of the movable connecting block 3-3 while also providing dust and foreign matter protection.

[0052] The track 4-3 and wheel end of the wheel-rail assembly 1-3 of this embodiment also need to be dustproof (foreign matter proof). If there is foreign matter on the track 4-3, it will affect the accuracy of the robot. When the truss moves, the foot-end track cleaning piece 4-4 can sweep the foreign matter on the track 4-3 off the track 4-3 to ensure the accuracy of the movement of the walking truss assembly 1-1.

[0053] The drive assembly 1-4 of this embodiment adopts the gear rack method. Since the installation accuracy of the gear rack is relatively high, and considering that the position of the gear rack of the drive assembly 1-4 is close to the ground and there are foreign objects, the body of the reducer 5-2 is set on the linear guide end foot 2-4 or the wheel rail end foot 2-5, and the rack 5-4 is first installed on the rack pad 5-5, and then the rack pad 5-5 is installed on the pad bracket 5-6. After installation, the tooth surface of the rack 5-4 faces downward, and it is not easy for foreign objects to accumulate on the rack 5-4. In addition, in order to meet the meshing accuracy of the gear 5-3 and the rack 5-4, gapless meshing is achieved at each position, and precise adjustment up and down can be performed when the rack pad 5-5 is fixed by the pad bracket 5-6.

[0054] like Figure 11 As shown, the working process of the truss-type intelligent welding robot 100 of this embodiment is as follows:

[0055] Step 1: Initialization: The industrial welding robot assembly 1-7 moves to the leftmost position and rises to a certain height to ensure that the industrial welding robot assembly 1-7 does not block the scanning field of view of the laser line scan camera 8-3;

[0056] Step 2: Since the workpiece is large, define the position with the smallest X and Y coordinates of the workpiece as the scanning starting area, move the walking truss assembly 1-1 above the starting area, and move the collaborative robot assembly 1-6 so that the collaborative robot assembly 1-6 is at an appropriate height;

[0057] Step 3: Operate the collaborative robot 8-1 to make the laser line scan camera 8-3 perform a uniform linear motion in the X direction to obtain a cloud image of the workpiece, preferably a cloud image of a two-meter square;

[0058] Step 4: Process the obtained cloud image data to achieve rapid 3D reconstruction and obtain a 3D model;

[0059] Step 5: Analyze the reconstructed 3D model to find the key areas where welds exist;

[0060] Step 6: Adjust the posture of the collaborative robot 8-1 and use the handheld area array camera 8-4 of the collaborative robot 8-1 to take pictures of the possible area (ROI area) where the weld may exist;

[0061] Step 7: Perform image processing on the photos taken by the array camera 8-4 to identify the welds and determine the precise positions and sizes of the welds and components, thereby further correcting the three-dimensional model in step 4.

[0062] Step 8: Repeat steps 5 to 7 until the weld is identified in the possible area (ROI area) of the scan area.

[0063] Step 9: Move the collaborative robot assembly 1-6 (if the width direction Y has been completed, move the walking truss assembly 1-1 along the X direction to the next scanning area) to scan the next area, and repeat steps 3 to 8 until the entire workpiece is completed;

[0064] Step 10: Move the walking truss assembly 1-1 to the initial welding position and send the weld information to the industrial welding robot assembly 1-7. The industrial welding robot assembly 1-7 realizes automatic welding of this area. After the welding of one area is completed, move the walking truss assembly to weld the next area.

[0065] The present invention aims at improving the structure and the control process of the prior art.

[0066] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A truss-type intelligent welding robot, characterized by: It includes a walking truss assembly, a linear guide assembly, a wheel-rail assembly, a collaborative robot assembly, an industrial welding robot assembly, two drive assemblies, two horizontal traverse assemblies and two vertical movement assemblies, one end of the walking truss assembly is connected to the linear guide assembly, the other end of the walking truss assembly is connected to the wheel-rail assembly, the linear guide assembly and the wheel-rail assembly are respectively coordinated with one of the drive assemblies, the horizontal traverse assembly is arranged on the walking truss assembly, each of the vertical movement assemblies is respectively arranged on one of the horizontal traverse assemblies, the collaborative robot assembly and the industrial welding robot assembly are respectively arranged on one of the vertical movement assemblies, the collaborative robot assembly is used to determine the weld position of the workpiece, and the industrial welding robot assembly welds the workpiece according to the weld position determined by the collaborative robot, the drive assembly drives the walking truss assembly to move along the X direction, the horizontal traverse assembly can move along the Y direction, and the vertical movement assembly can move along the Z direction; The collaborative robot assembly includes a collaborative robot, a laser line scan camera, an area array camera, and a laser displacement sensor. The collaborative robot is arranged on one of the vertical moving assemblies. The laser line scan camera, the area array camera, and the laser displacement sensor are all arranged on the collaborative robot. The laser line scan camera is used to scan the workpiece, the area array camera is used to take pictures of the workpiece, and the laser displacement sensor is used to detect the distance between the weld position and the area array camera. The working process of the truss-type intelligent welding robot is as follows: Step 1, initialization: the industrial welding robot assembly moves to the leftmost position and rises to ensure that the industrial welding robot assembly does not block the scanning field of view of the laser line scanning camera; Step 2, define the position with the smallest X and Y coordinates of the workpiece as the scanning starting area, move the walking truss assembly above the starting area, and move the collaborative robot assembly so that the collaborative robot assembly is at an appropriate height; Step 3, operate the collaborative robot to make the laser line scanning camera perform a uniform linear motion in the X direction to obtain a cloud map of the workpiece; Step 4, process the obtained cloud map data to achieve rapid 3D reconstruction and obtain a 3D model; Step 5, analyze the reconstructed 3D model to find the key area where the weld exists; Step 6, adjust the posture of the collaborative robot , use the collaborative robot's handheld array camera to take pictures of possible areas where welds may exist; step seven, perform image processing on the pictures taken by the array camera, identify the welds, and determine the precise position and size of the welds and components, so as to further correct the three-dimensional model in step four; step eight, repeat steps five to seven until the welds in the possible areas of the scan area are identified; step nine, move the collaborative robot assembly to scan the next area, and repeat steps three to eight until the entire workpiece is completed; step ten, move the walking truss assembly to the initial welding position, send the weld information to the industrial welding robot assembly, and realize automatic welding of this area through the industrial welding robot assembly. After welding one area is completed, move the walking truss assembly to weld the next area.

2. The truss-type intelligent welding robot according to claim 1, characterized in that: The industrial welding robot assembly includes an industrial welding robot and a welding gun. The industrial welding robot is arranged on a vertical moving assembly, and the welding gun is arranged on the industrial welding robot.

3. The truss-type intelligent welding robot according to claim 2, characterized in that: It also includes an industrial computer and a motion controller. The industrial computer is electrically connected to the collaborative robot, the laser line scan camera, the area array camera, the industrial welding robot and the motion controller respectively. The motion controller is electrically connected to the laser displacement sensor, the drive assembly, the horizontal traverse assembly and the vertical movement assembly respectively.

4. The truss-type intelligent welding robot according to claim 1, characterized in that: The walking truss assembly includes a main crossbeam, a thigh, a calf, a linear guide rail end foot and a wheel-rail end foot. The horizontal traverse assembly can slide along the main crossbeam. The length direction of the main crossbeam is the Y direction. A thigh is provided at each end of the main crossbeam, and a calf is provided at the lower end of each thigh. The lower end of one calf is provided with the linear guide rail end foot. A driving assembly drives the linear guide rail end foot to move along the X direction. The lower end of another calf is provided with the wheel-rail end foot. A driving assembly drives the wheel-rail end foot to move along the X direction.

5. The truss-type intelligent welding robot according to claim 1, characterized in that: The linear guide assembly includes a double linear guide, a base plate, a movable connecting block, a dust cover, a dust cover bracket and a dust curtain. The length direction of the double linear guide is the X direction. The double linear guide is arranged on the base plate. The dust cover is arranged above the double linear guide through the dust cover bracket. Dust curtains are respectively provided on both sides of the dust cover. One end of the walking truss assembly is connected to the movable connecting block, and the movable connecting block passes through the dust curtain and is slidably connected to the double linear guide.

6. The truss-type intelligent welding robot according to claim 1, characterized in that: The wheel-rail assembly includes a track wheel, a track, a foot-end track cleaning piece and a cleaning piece pressing plate. The length direction of the track is the X direction. The track wheel is rotatably connected to the other end of the walking truss assembly, and the track wheel can roll along the track. The foot-end track cleaning piece is connected to the other end of the walking truss assembly through the cleaning piece pressing plate, and the lower end of the foot-end track cleaning piece is in contact with the track.

7. The truss-type intelligent welding robot according to claim 1, characterized in that: The two drive assemblies are respectively arranged on one side of the linear guide assembly and the wheel-rail assembly, and the drive assembly includes a servo motor, a reducer, a gear, a rack and a pad bracket. The body of the reducer is arranged on the linear guide assembly or the wheel-rail assembly, the gear is connected to the servo motor through the reducer, the rack is arranged on the pad bracket, and the gear is engaged with the rack.

8. The truss-type intelligent welding robot according to claim 1, characterized in that: The horizontal transverse movement assembly includes a transverse linear guide, a transverse movement plate, a transverse movement drive servo motor, a transverse movement drive reducer, a transverse movement drive gear, a transverse movement rack and a transverse movement drag chain. The transverse linear guide and the transverse movement rack are arranged on the walking truss assembly. The transverse movement plate is slidingly connected to the transverse linear guide. The body of the transverse movement drive reducer is connected to the transverse movement plate. The transverse movement drive servo motor is connected to the transverse movement drive gear through the transverse movement drive reducer. The transverse movement drive gear is engaged with the transverse movement rack, and the transverse movement drag chain is connected to the transverse movement plate.

9. The truss-type intelligent welding robot according to claim 1, characterized in that: The vertical movement assembly includes a vertical movement linear guide, a lifting drive servo motor, a vertical movement reducer, a vertical movement gear, a vertical movement rack, a vertical movement column and a vertical movement drag chain. The length direction of the vertical movement linear guide is the Z direction. The vertical movement linear guide and the vertical movement rack are provided on the vertical movement column. The body of the vertical movement reducer is connected to the horizontal lateral movement assembly. The lifting drive servo motor is connected to the vertical movement gear through the vertical movement reducer. The vertical movement gear is meshed with the vertical movement rack. The vertical movement linear guide is slidably connected to the horizontal lateral movement assembly, and the vertical movement drag chain is connected to the vertical movement column.

Images