Intelligent self-adaptive welding seam recognition and detection robot and control system thereof

Abstract

The invention discloses an intelligent self-adaptive weld joint recognition and detection robot and a control system thereof, and relates to the field of weld joint detection, the intelligent self-adaptive weld joint recognition and detection robot comprises a welding device shell arranged at the execution end of a mechanical arm, a welding pipe arranged at the bottom of the welding device shell and an industrial camera arranged on the outer wall of the welding device shell, and the outer wall of the welding pipe is sleeved with a weld joint detail recognition device; the first angle adjusting component and the second angle adjusting component are symmetrically arranged at the two ends of the fan-shaped outer cover box, execution ends of the first angle adjusting component and the second angle adjusting component penetrate through the fan-shaped outer cover box and extend into the fan-shaped outer cover box, and the air blowing cleaning component is arranged at the execution end of the first angle adjusting component. The illumination shooting component is arranged at the execution end of the second angle adjusting component; two extending plates are symmetrically arranged on the outer wall of the welding device shell, and lifting components are arranged on the extending plates. According to the recognition and detection robot and the control system of the recognition and detection robot, fine recognition and analysis can be conveniently conducted on welding seams related to welding tracks.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of weld detection, and specifically to an intelligent self-adaptive weld recognition and detection robot and a control system thereof. Background Art

[0002] Weld seam recognition is a key technology in automated welding. It requires the acquisition of multiple parameters to ensure the quality and accuracy of welding, such as weld seam width, weld seam shape, and groove shape.

[0003] According to the method for detecting the weld trajectory of a welding robot provided by the patent document with application number CN201510870840.8, the method is as follows: fix the gypsum workpiece on the tooling; fix the tooling on the positioner and start the positioner; install a scratching steel needle on the welding robot welding gun head; start the welding robot, simulate welding on the gypsum workpiece to form a welding trajectory; use a three-dimensional laser scanner to scan the welding trajectory to form a three-dimensional model of the welding trajectory, compare the scanned three-dimensional model with the theoretical welding model, analyze its deviation value, and judge whether the weld trajectory is qualified. This detection method is simple, and uses gypsum to simulate the model of the welding workpiece, saving detection costs, intuitively showing the welding trajectory of the welding robot, facilitating measurement and analysis, and providing more unified, intuitive and accurate evaluation standards for R&D production parties, sellers and users.

[0004] The method in the above patent intuitively displays the welding trajectory of the welding robot, which is convenient for measurement and analysis, but is not convenient for detailed identification and analysis of the welds involved in the welding trajectory. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide an intelligent adaptive weld recognition and detection robot and a control system thereof to solve the technical problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent adaptive weld recognition and detection robot, comprising a welder housing arranged at an execution end of a robot arm, a welding pipe arranged at the bottom of the welder housing, and an industrial camera arranged on the outer wall of the welder housing, the outer wall of the welding pipe is sleeved with a weld detail recognition device, the weld detail recognition device comprises a fan-shaped outer cover box sleeved on the outside of the welding pipe and slidably connected to the welding pipe, a first angle adjustment component and a second angle adjustment component symmetrically arranged at both ends of the fan-shaped outer cover box and the execution ends both penetrate the fan-shaped outer cover box and extend into the fan-shaped outer cover box, an air blowing cleaning component arranged at the execution end of the first angle adjustment component, and a lighting and shooting component arranged at the execution end of the second angle adjustment component; Two extension plates are symmetrically arranged on the outer wall of the welder housing, and lifting components for controlling the rise or fall of the fan-shaped outer cover box are arranged on the extension plates.

[0007] Preferably, the first angle adjustment component includes a shaft rod that passes through the outer wall of the fan-shaped outer cover box and is rotatably connected to the fan-shaped outer cover box, a driven gear that is provided at the end of the shaft rod and is located outside the fan-shaped outer cover box, an L-shaped positioning plate provided on the outer wall of the fan-shaped outer cover box, a micro motor provided on the outer wall of the L-shaped positioning plate and the execution end of which passes through the L-shaped positioning plate, and a driving gear provided at the execution end of the micro motor and meshing with the driven gear, and the second angle adjustment component has the same structure as the first angle adjustment component. In this preferred embodiment, the first angle adjustment component is used to facilitate the adjustment of the working angle of the air blowing and cleaning component, and the second angle adjustment component is used to facilitate the adjustment of the working angle of the lighting and shooting component.

[0008] Preferably, the air blowing cleaning component includes a connecting plate connected to the end of the shaft rod in the first angle adjustment component and located in the fan-shaped outer cover box, a first camera arranged on the outer wall of the connecting plate, an air source pipe with an exhaust end connected to the end of the connecting plate and an air inlet end passing through the fan-shaped outer cover box and extending to the outside of the fan-shaped outer cover box, a negative pressure pipe with a suction end passing through the outer wall of the fan-shaped outer cover box and extending to the inside of the fan-shaped outer cover box, and a suction box arranged at the end of the negative pressure pipe and connected to the negative pressure pipe; The outer wall of the suction box is provided with an arc groove, and the exhaust end of the gas source pipe is inclined and extends into the suction box through the arc groove. In this preferred embodiment, the air blowing cleaning component is used to clean the weld to be accurately identified, so as to avoid impurities affecting the accuracy of weld identification detection.

[0009] Preferably, the lighting and photographing component includes a rotating plate connected to the end of the shaft rod in the second angle adjustment component and located in the fan-shaped outer cover box, a second camera disposed on the outer wall of the rotating plate, two lighting lamps disposed on the outer wall of the rotating plate and symmetrically arranged with the second camera as the axis, two wiping rods symmetrically disposed on the inner wall of the fan-shaped outer cover box, and a sponge pad disposed on the wiping rods. In this preferred embodiment, the lighting and photographing component facilitates the illumination and photographing of the weld.

[0010] Preferably, two elastic extension components are symmetrically arranged on both sides of the fan-shaped outer cover box, and the elastic extension components include a fan-shaped extension plate whose two ends are rotatably connected to the outer walls of the two ends of the fan-shaped outer cover box, two arc-shaped grooves symmetrically embedded in the outer wall of the fan-shaped outer cover box, a power block with one end connected to the outer wall of the fan-shaped extension plate and the other end extending into the arc-shaped groove, and a spring arranged in the arc-shaped groove and used to elastically support the power block. In this preferred embodiment, the elastic extension components facilitate the adaptation of welds at different angles of the workpiece.

[0011] Preferably, the lifting component includes a winch disposed on the top of the extension plate, a power motor disposed on the extension plate and having an output end connected to the winch, a limit electromagnetic ring disposed on the outer wall of the winch and sleeved on the outside of the execution end of the power motor, and a rope having one end connected to the winch and the other end passing through the extension plate and connected to the top of the fan-shaped outer cover box. In this preferred embodiment, the lifting component is used to realize the raising or lowering of the fan-shaped outer cover box.

[0012] Preferably, the inner wall of the fan-shaped outer cover box is provided with a partition component, and the partition component includes a first partition plate provided on the inner wall of the fan-shaped outer cover box, and a second partition plate provided on the inner wall of the fan-shaped extension plate, and the second partition plate is provided with a dislocation groove. In this preferred embodiment, the partition component is used to separate the lighting and shooting component from the air blowing and cleaning component, so as to prevent the impurities generated by the air blowing and cleaning component from flying up and affecting the operation of the lighting and shooting component.

[0013] Preferably, the outer wall of the welding pipe is sleeved with a magnetic limiting component, and the magnetic limiting component includes an iron ring sleeved on the outer wall of the welding pipe, and a positioning electromagnetic ring provided on the top of the inner wall of the fan-shaped outer cover box and sleeved on the outer wall of the welding pipe. In this preferred embodiment, the magnetic limiting component facilitates the stable fixation of the fan-shaped outer cover box during operation.

[0014] According to the above technical solution of the intelligent adaptive weld seam recognition and detection robot, a control system of the intelligent adaptive weld seam recognition and detection robot will also be provided, including a sub-control center electrically connected to an industrial camera, a lifting component, a lighting and shooting component, and an air blowing and cleaning component, and a main control center connected to the sub-control center by a network, wherein the main control center includes a weld path establishment module, a weld seam recognition and cleaning module, a weld seam detail detection module, a welding parameter adjustment module, and a welding module; The weld path establishment module is used to receive the workpiece information captured by the industrial camera and establish the welding path. The weld detail detection module is used to trigger the lifting component to move the fan-shaped outer cover box down to the working position, and trigger the lighting shooting component to shoot the weld details. The weld identification and cleaning module is used to trigger the air blowing and cleaning component to clean the weld. The welding parameter adjustment module is used to receive the image information after the weld details are shot and adjust the welding parameters accordingly after analysis. The welding module is used to trigger the robotic arm and the welder and perform welding processing according to the welding parameters.

[0015] Preferably, the weld detail detection module includes an angle setting unit, a light source setting unit, a groove analysis unit, a weld width analysis unit, and a workpiece defect analysis unit. In this preferred embodiment, the angle setting unit facilitates adjustment of the shooting angle of the second camera, the light source setting unit facilitates adjustment of the brightness and color of the lighting lamp, the groove analysis unit facilitates analysis of the image captured by the second camera to determine the groove type, the weld width analysis unit facilitates analysis of the image captured by the second camera to determine the weld width, and the workpiece defect analysis unit facilitates analysis of the image captured by the second camera to determine the defect of the workpiece welding.

[0016] In summary, the present invention mainly has the following beneficial effects: The device of the present invention facilitates fine identification and analysis of the welds involved in the welding trajectory, can remove impurities in the welds, and prevent the impurities from affecting the identification quality of the welds. At the same time, the parameters obtained by fine identification can be used to adjust the welding parameters, such as feed speed, welding temperature, etc.; In the present invention, the lifting component is used to realize the rising or falling of the fan-shaped outer cover box, the magnetic limit component is used to facilitate the stable fixation of the fan-shaped outer cover box during operation, the elastic extension component is used to facilitate the adaptation of welds at different angles of the workpiece, the first angle adjustment component is used to facilitate the adjustment of the working angle of the air blowing and cleaning component, the second angle adjustment component is used to facilitate the adjustment of the working angle of the lighting and shooting component, the air blowing and cleaning component is used to facilitate the cleaning of the weld to be accurately identified, and impurities are prevented from affecting the accuracy of weld identification and detection, the lighting and shooting component is used to facilitate the illumination and shooting of the weld, and the separation between the lighting and shooting component and the air blowing and cleaning component is achieved by the separation component, and impurities generated by the air blowing and cleaning component are prevented from flying up and affecting the operation of the lighting and shooting component; The weld path establishment module can receive the workpiece information captured by the industrial camera and establish the welding path. The weld detail detection module can trigger the lifting component to move the fan-shaped outer cover box down to the working position, and trigger the lighting shooting component to shoot the weld details, so as to identify the detailed features of the weld. The weld identification and cleaning module can trigger the air blowing and cleaning component to clean the weld. The welding parameter adjustment module can receive the image information after the weld details are captured and adjust the welding parameters accordingly after analysis. The welding module can trigger the robot arm and the welder and perform welding processing according to the welding parameters. The angle setting unit facilitates the adjustment of the shooting angle of the second camera, the light source setting unit facilitates the adjustment of the brightness and color of the lighting to facilitate weld identification, the groove analysis unit facilitates the analysis of the image taken by the second camera to determine the groove type, the weld width analysis unit facilitates the analysis of the image taken by the second camera to determine the weld width, and the workpiece defect analysis unit facilitates the analysis of the image taken by the second camera to determine the defects of the workpiece welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an axonometric diagram of the overall structure of the present invention; Figure 2 It is an exploded view of the overall structure of the present invention; Figure 3 It is an exploded view of the lifting component structure of the present invention; Figure 4 It is an exploded diagram of the structure of the weld detail identification device of the present invention; Figure 5 It is an exploded view of the internal structure of the fan-shaped outer cover box of the present invention; Figure 6 It is a side view of the overall structure of the present invention; Figure 7 It is a cross-sectional view of the overall structure of the present invention; Figure 8 It is an enlarged view of the structure at A of the present invention; Fig. 9 It is a system structure framework diagram of the present invention; Fig.10 This is a structural framework diagram of the master control center system of the present invention.

[0018] Description of the drawings: 10. Welding device housing; 11. Welding tube; 12. Industrial camera; 20. Weld seam detail recognition device; 21. Fan-shaped outer cover box; 22. First angle adjustment component; 221. Shaft; 222. Driven gear; 223. L-shaped positioning plate; 224. Micro motor; 225. Driving gear; 23. Second angle adjustment component; 24. Air blowing and cleaning component; 241. Connecting plate; 242. First camera; 243. Air source pipe; 244. Negative pressure pipe; 245. Suction box; 2451. Arc groove; 25. Lighting and shooting component; 251. Rotating plate; 252. Second camera; 253. Illuminating lamp; 254. Wiping rod; 255. Sponge pad; 26. Elastic extension component; 261. Fan-shaped extension plate; 262. Arc slot; 263, power block; 264, spring; 27, partition component; 271, first partition plate; 272, second partition plate; 273, offset slot; 30, extension plate; 31, lifting component; 311, winch; 312, power motor; 313, limit electromagnetic ring; 314, rope; 32, magnetic limit component; 321, iron ring; 322, positioning electromagnetic ring; 40, sub-control center; 50, main control center; 51, weld path establishment module; 52, weld identification and cleaning module; 53, weld detail detection module; 531, angle setting unit; 532, light source setting unit; 533, groove analysis unit; 534, weld width analysis unit; 535, workpiece defect analysis unit; 54, welding parameter adjustment module; 55, welding module. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0020] The following describes an embodiment of the present invention based on its overall structure. Example

[0021] Please refer to the attached Figure 1 , 2, 5, 6, 7, 8, 9, and 10, in a preferred embodiment of the present invention, an intelligent adaptive weld recognition and detection robot comprises a welder housing 10 disposed at an execution end of a robot arm, a welding tube 11 disposed at the bottom of the welder housing 10, and an industrial camera 12 disposed on the outer wall of the welder housing 10, the outer wall of the welding tube 11 is sleeved with a weld detail recognition device 20, the weld detail recognition device 20 comprises a fan-shaped outer cover box 21 sleeved on the outside of the welding tube 11 and slidably connected to the welding tube 11, and symmetrically arranged on the fan-shaped outer cover The first angle adjustment component 22 and the second angle adjustment component 23 of the box 21 are both penetrated through the fan-shaped outer cover box 21 and extended to the fan-shaped outer cover box 21, and the air blowing cleaning component 24 is arranged at the execution end of the first angle adjustment component 22. The first angle adjustment component 22 includes a shaft 221 that is penetrated through the outer wall of the fan-shaped outer cover box 21 and is rotatably connected to the fan-shaped outer cover box 21, a driven gear 222 that is arranged at the end of the shaft 221 and is located outside the fan-shaped outer cover box 21, and an L-shaped positioning The plate 223, a micro motor 224 arranged on the outer wall of the L-shaped positioning plate 223 and having an execution end passing through the L-shaped positioning plate 223, and a driving gear 225 arranged at the execution end of the micro motor 224 and meshing with the driven gear 222, the second angle adjustment component 23 has the same structure as the first angle adjustment component 22, the air blowing cleaning component 24 includes a connecting plate 241 connected to the end of the shaft rod 221 in the first angle adjustment component 22 and located in the fan-shaped outer cover box 21, and a first camera 242 arranged on the outer wall of the connecting plate 241, An exhaust end is connected to the end of the connecting plate 241, an air source pipe 243 whose air inlet end passes through the fan-shaped outer cover box 21 and extends to the outside of the fan-shaped outer cover box 21, a suction end passes through the outer wall of the fan-shaped outer cover box 21 and extends to the negative pressure pipe 244 inside the fan-shaped outer cover box 21, and a suction box 245 is arranged at the end of the negative pressure pipe 244 and connected to the negative pressure pipe 244; an arc-shaped groove 2451 is provided on the outer wall of the suction box 245, and the exhaust end of the air source pipe 243 is inclined and extends to the inside of the suction box 245 through the arc-shaped groove 2451.

[0022] It should be noted that, in this embodiment, when the device performs weld detection and identification, the sub-control center 40 triggers the lifting component 31 to work, so that the fan-shaped outer cover box 21 slides from top to bottom on the outer wall of the welding pipe 11 until the magnetic limiting component 32 completes the magnetic limiting work; The main control center 50 sends a signal to the sub-control center 40, and the sub-control center 40 triggers the industrial robot arm to work, and the industrial robot arm drives the welder housing 10 and the welding pipe 11 to move, so as to perform weld seam recognition generation and fine detection; The weld path establishment module 51 can receive the workpiece information photographed by the industrial camera 12 and establish the welding path. The weld detail detection module 53 can trigger the lifting component 31 to move the fan-shaped outer cover box 21 down to the working position. The industrial robot arm drives the welding pipe 11 to move along the welding path. At this time, the fan-shaped outer cover box 21 abuts the workpiece and triggers the lighting shooting component 25 to shoot the weld details to facilitate the identification of the detailed features of the weld. The weld identification and cleaning module 52 can trigger the air blowing and cleaning component 24 to clean the weld. The welding parameter adjustment module 54 can receive the image information after the weld details are photographed and adjust the welding parameters accordingly after analysis. The welding module 55 can trigger the robot arm and the welder and perform welding processing according to the welding parameters. The angle setting unit 531 is convenient for adjusting the shooting angle of the second camera 252, the light source setting unit 532 is convenient for adjusting the brightness and color of the lighting lamp 253, so as to facilitate weld recognition, the groove analysis unit 533 is convenient for analyzing the image taken by the second camera 252 to determine the groove type, the weld width analysis unit 534 is convenient for analyzing the image taken by the second camera 252 to determine the weld width, and the workpiece defect analysis unit 535 is convenient for analyzing the image taken by the second camera 252 to determine the defect of the workpiece welding part; Furthermore, the working principle of the second angle adjustment component 23 is consistent with the working principle of the first angle adjustment component 22. Taking the working of the first angle adjustment component 22 as an example, the sub-control center 40 receives the image information captured by the first camera 242, and triggers the micro motor 224 to work after analysis. The execution end of the micro motor 224 drives the driving gear 225 to rotate, and the driving gear 225 drives the connecting plate 241 to rotate through the driven gear 222 and the shaft 221 until the image information captured by the first camera 242 meets the set requirements to complete the angle adjustment. Furthermore, when the air blowing cleaning component 24 is working, the air source pipe 243 can be connected to the positive pressure system, and the negative pressure pipe 244 can be connected to the negative pressure system. When the positive pressure system works normally, the pressurized gas enters the air source pipe 243 and is discharged through the exhaust port of the air source pipe 243 to purge the weld. At the same time, the negative pressure system is turned on, and the blown impurities are discharged through the suction box 245 and the negative pressure pipe 244. Since the end of the air source pipe 243 extends into the suction box 245 through the arc-shaped groove 2451, the impurities blown up can be immediately sucked away, thereby avoiding the diffusion of impurities.

[0023] Please refer to the attached Figure 2 , 5, 7, 9, and 10, in another preferred embodiment of the present invention, there is a lighting and shooting component 25 arranged at the execution end of the second angle adjustment component 23; the lighting and shooting component 25 includes a rotating plate 251 connected to the end of the axis rod 221 in the second angle adjustment component 23 and located in the fan-shaped outer cover box 21, a second camera 252 arranged on the outer wall of the rotating plate 251, two lighting lamps 253 arranged on the outer wall of the rotating plate 251 and symmetrically arranged with the second camera 252 as the axis, two wiping rods 254 symmetrically arranged on the inner wall of the fan-shaped outer cover box 21, and a sponge pad 255 arranged on the wiping rod 254, and two elastic extension components 26 are symmetrically arranged on both sides of the fan-shaped outer cover box 21. The elastic extension component 26 includes a fan-shaped extension plate 261 whose two ends are rotatably connected to the outer walls of the fan-shaped outer cover box 21, two arc grooves 262 symmetrically embedded in the outer wall of the fan-shaped outer cover box 21, a power block 263 with one end connected to the outer wall of the fan-shaped extension plate 261 and the other end extending into the arc groove 262, and a spring 264 arranged in the arc groove 262 and used to elastically support the power block 263. The inner wall of the fan-shaped outer cover box 21 is provided with a partition component 27, and the partition component 27 includes a first partition plate 271 arranged on the inner wall of the fan-shaped outer cover box 21, and a second partition plate 272 arranged on the inner wall of the fan-shaped extension plate 261, and the second partition plate 272 is provided with an offset groove 273.

[0024] It should be noted that, in this embodiment, when the lighting and shooting component 25 is working, the main control center 50 receives the image information shot by the second camera 252, and sends a signal to the sub-control center 40, so that the sub-control center 40 triggers the second angle adjustment component 23 and the lighting lamp 253 to adjust until the image information meets the requirements. The sub-control center 40 triggers the lighting lamp 253 according to the signal sent by the main control center 50, so that the lighting lamp 253 emits light of appropriate brightness and color, so that the second camera 252 can shoot the weld image. When the second camera 252 passes through the sponge pad 255 driven by the second angle adjustment component 23, the sponge pad 255 will wipe the dust on the second camera 252; Furthermore, when the elastic extension member 26 is working, the fan-shaped extension plate 261 can rotate around the fan-shaped outer cover box 21 with the center of the circle of the fan-shaped outer cover box 21 as the axis when being squeezed. At this time, the spring 264 is compressed, and the power block 263 slides in the arc groove 262. When the squeezing of the fan-shaped extension plate 261 is cancelled, the spring 264 drives the fan-shaped extension plate 261 to return to its original position. Furthermore, when the partition component 27 is working, the first partition plate 271 and the second partition plate 272 will block the floating impurities generated by the air blowing cleaning component 24, and when the fan-shaped extension plate 261 is squeezed and rotated, the offset groove 273 provides a storage space for the fan-shaped outer cover box 21.

[0025] Please refer to the attached Figure 2 , 3 , 7, 9, and 10, in another preferred embodiment of the present invention, the outer wall of the welding device housing 10 is symmetrically provided with two extension plates 30, and the extension plates 30 are provided with a lifting component 31 for controlling the rise or fall of the fan-shaped outer cover box 21, and the lifting component 31 includes a winch 311 arranged on the top of the extension plate 30, a power motor 312 arranged on the extension plate 30 and having an output end connected to the winch 311, and a power motor 312 arranged on the outer wall of the winch 311 and sleeved on the power A limiting electromagnetic ring 313 is provided on the outside of the actuator end of the motor 312, and a rope 314 is connected to the capstan 311 at one end and passes through the extension plate 30 and is connected to the top of the fan-shaped outer cover box 21 at the other end. A magnetic limiting component 32 is provided on the outer wall of the welding tube 11. The magnetic limiting component 32 includes an iron ring 321 which is provided on the outer wall of the welding tube 11, and a positioning electromagnetic ring 322 which is provided on the top of the inner wall of the fan-shaped outer cover box 21 and is provided on the outer wall of the welding tube 11.

[0026] It should be noted that, in this embodiment, when the lifting component 31 is working, the execution end of the power motor 312 drives the winch 311 to rotate, and the winch 311 drives the fan-shaped outer cover box 21 to rise or fall along the welding pipe 11 through the rope 314. After the limit electromagnetic ring 313 is energized, it can magnetically attract the rotating shaft of the output end of the power motor 312 to facilitate locking and limiting. Furthermore, when the fan-shaped outer cover box 21 descends to the bottom end of the welding pipe 11 and reaches the working position, the positioning electromagnetic ring 322 passes through the electromagnetic magnet ring 321 to complete the fixing of the fan-shaped outer cover box 21 .

[0027] According to the above embodiments, a control system of an intelligent adaptive weld recognition and detection robot is also provided, including a sub-control center 40 electrically connected to an industrial camera 12, a lifting component 31, a lighting and shooting component 25, and an air blowing and cleaning component 24, and a main control center 50 connected to the sub-control center 40 by a network, wherein the main control center 50 includes a weld path establishment module 51, a weld recognition and cleaning module 52, a weld detail detection module 53, a welding parameter adjustment module 54, and a welding module 55, wherein the weld detail detection module 53 includes an angle setting unit 531, a light source setting unit 532, a groove analysis unit 533, a weld width analysis unit 534, and a workpiece defect analysis unit 535; The weld path establishment module 51 is used to receive the workpiece information captured by the industrial camera 12 and establish the welding path. The weld detail detection module 53 is used to trigger the lifting component 31 to move the fan-shaped outer cover box 21 down to the working position, and trigger the lighting shooting component 25 to shoot the weld details. The weld identification and cleaning module 52 is used to trigger the air blowing and cleaning component 24 to clean the weld. The welding parameter adjustment module 54 is used to receive the image information after the weld details are shot and adjust the welding parameters accordingly after analysis. The welding module 55 is used to trigger the robot arm and the welder and perform welding processing according to the welding parameters.

[0028] The working principle of the present invention is: The electrical components in the present invention are all electrically connected to the sub-control center 40, and the sub-control center 40 is connected to the main control center 50 through a network; When the device performs weld detection and identification, the sub-control center 40 triggers the lifting component 31 to work, so that the fan-shaped outer cover box 21 slides from top to bottom on the outer wall of the welding pipe 11 until the magnetic limiting component 32 completes the magnetic limiting work; The main control center 50 sends a signal to the sub-control center 40, and the sub-control center 40 triggers the industrial robot arm to work, and the industrial robot arm drives the welder housing 10 and the welding pipe 11 to move, so as to perform weld seam recognition generation and fine detection; The weld path establishment module 51 can receive the workpiece information photographed by the industrial camera 12 and establish the welding path. The weld detail detection module 53 can trigger the lifting component 31 to move the fan-shaped outer cover box 21 down to the working position. The industrial robot arm drives the welding pipe 11 to move along the welding path. At this time, the fan-shaped outer cover box 21 abuts the workpiece and triggers the lighting shooting component 25 to shoot the weld details to facilitate the identification of the detailed features of the weld. The weld identification and cleaning module 52 can trigger the air blowing and cleaning component 24 to clean the weld. The welding parameter adjustment module 54 can receive the image information after the weld details are photographed and adjust the welding parameters accordingly after analysis. The welding module 55 can trigger the robot arm and the welder and perform welding processing according to the welding parameters. The angle setting unit 531 is convenient for adjusting the shooting angle of the second camera 252, the light source setting unit 532 is convenient for adjusting the brightness and color of the lighting lamp 253, so as to facilitate weld recognition, the groove analysis unit 533 is convenient for analyzing the image taken by the second camera 252 to determine the groove type, the weld width analysis unit 534 is convenient for analyzing the image taken by the second camera 252 to determine the weld width, and the workpiece defect analysis unit 535 is convenient for analyzing the image taken by the second camera 252 to determine the defect of the workpiece welding part; The working principle of the second angle adjustment component 23 is consistent with that of the first angle adjustment component 22. Taking the working of the first angle adjustment component 22 as an example, the sub-control center 40 receives the image information captured by the first camera 242, and triggers the micro motor 224 to work after analysis. The execution end of the micro motor 224 drives the driving gear 225 to rotate, and the driving gear 225 drives the connecting plate 241 to rotate through the driven gear 222 and the shaft 221 until the image information captured by the first camera 242 meets the set requirements to complete the angle adjustment. When the air blowing cleaning component 24 is working, the air source pipe 243 can be connected to the positive pressure system, and the negative pressure pipe 244 can be connected to the negative pressure system. When the positive pressure system works normally, the pressurized gas enters the air source pipe 243 and is discharged through the exhaust port of the air source pipe 243 to purge the weld. At the same time, the negative pressure system is turned on, and the blown impurities are discharged through the suction box 245 and the negative pressure pipe 244. Since the end of the air source pipe 243 extends into the suction box 245 through the arc groove 2451, the blown impurities can be immediately sucked out, avoiding the diffusion of impurities. When the lighting and shooting component 25 is working, the main control center 50 receives the image information shot by the second camera 252, and sends a signal to the sub-control center 40, so that the sub-control center 40 triggers the second angle adjustment component 23 and the lighting lamp 253 to adjust until the image information meets the requirements. The sub-control center 40 triggers the lighting lamp 253 according to the signal sent by the main control center 50, so that the lighting lamp 253 emits light of appropriate brightness and color, so that the second camera 252 can shoot the weld image. When the second camera 252 passes through the sponge pad 255 driven by the second angle adjustment component 23, the sponge pad 255 will wipe the dust on the second camera 252; When the elastic extension member 26 is working, the fan-shaped extension plate 261 can rotate around the fan-shaped outer cover box 21 with the center of the circle of the fan-shaped outer cover box 21 as the axis when being squeezed. At this time, the spring 264 is compressed, and the power block 263 slides in the arc groove 262. When the squeezing of the fan-shaped extension plate 261 is cancelled, the spring 264 drives the fan-shaped extension plate 261 to return to its original position. When the partition member 27 is working, the first partition plate 271 and the second partition plate 272 will block the floating impurities generated by the air blowing cleaning member 24, and when the fan-shaped extension plate 261 is squeezed and rotated, the offset groove 273 provides a storage space for the fan-shaped outer cover box 21; When the lifting component 31 is working, the execution end of the power motor 312 drives the winch 311 to rotate, and the winch 311 drives the fan-shaped outer cover box 21 to rise or fall along the welding pipe 11 through the rope 314. After the limit electromagnetic ring 313 is energized, it can magnetically attract the rotating shaft of the output end of the power motor 312 to facilitate locking and limiting. When the fan-shaped outer cover box 21 descends to the bottom end of the welding pipe 11 and reaches the working position, the positioning electromagnetic ring 322 passes through the electromagnetic magnet ring 321 to complete the fixing of the fan-shaped outer cover box 21.

[0029] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An intelligent self-adaptive weld seam recognition and inspection robot, comprising a welder housing (10) disposed at an execution end of a robot arm, a welding pipe (11) disposed at the bottom of the welder housing (10), and an industrial camera (12) disposed on an outer wall of the welder housing (10), characterized in that: The outer wall of the welding pipe (11) is sleeved with a weld detail recognition device (20), the weld detail recognition device (20) comprising a fan-shaped outer cover box (21) sleeved on the outside of the welding pipe (11) and slidably connected to the welding pipe (11), a first angle adjustment component (22) and a second angle adjustment component (23) symmetrically arranged at both ends of the fan-shaped outer cover box (21) and having execution ends that penetrate through the fan-shaped outer cover box (21) and extend into the fan-shaped outer cover box (21), an air blowing cleaning component (24) arranged at the execution end of the first angle adjustment component (22), and a lighting and shooting component (25) arranged at the execution end of the second angle adjustment component (23); Two extension plates (30) are symmetrically arranged on the outer wall of the welding device housing (10), and a lifting component (31) for controlling the sector-shaped outer cover box (21) to rise or fall is arranged on the extension plate (30).

2. The intelligent adaptive weld seam recognition and detection robot according to claim 1 is characterized in that: The first angle adjustment component (22) comprises a shaft (221) penetrating the outer wall of the fan-shaped outer cover box (21) and rotatably connected to the fan-shaped outer cover box (21), a driven gear (222) provided at the end of the shaft (221) and located outside the fan-shaped outer cover box (21), an L-shaped positioning plate (223) provided on the outer wall of the fan-shaped outer cover box (21), a micro motor (224) provided on the outer wall of the L-shaped positioning plate (223) and with an execution end penetrating the L-shaped positioning plate (223), and a driving gear (225) provided at the execution end of the micro motor (224) and meshing with the driven gear (222). The second angle adjustment component (23) has the same structure as the first angle adjustment component (22).

3. The intelligent adaptive weld seam recognition and detection robot according to claim 2 is characterized in that: The air blowing cleaning component (24) comprises a connecting plate (241) connected to the end of the central axis (221) of the first angle adjustment component (22) and located in the fan-shaped outer cover box (21), a first camera (242) arranged on the outer wall of the connecting plate (241), an air source pipe (243) having an exhaust end connected to the end of the connecting plate (241) and an air intake end passing through the fan-shaped outer cover box (21) and extending to the outside of the fan-shaped outer cover box (21), a negative pressure pipe (244) having a suction end passing through the outer wall of the fan-shaped outer cover box (21) and extending to the inside of the fan-shaped outer cover box (21), and a suction box (245) arranged at the end of the negative pressure pipe (244) and connected to the negative pressure pipe (244); An arc-shaped groove (2451) is provided on the outer wall of the suction box (245), and the exhaust end of the air source pipe (243) is arranged at an angle and extends into the suction box (245) through the arc-shaped groove (2451).

4. The intelligent adaptive weld seam recognition and detection robot according to claim 2 is characterized in that: The lighting and shooting component (25) comprises a rotating plate (251) connected to the end of the central axis (221) of the second angle adjustment component (23) and located in the fan-shaped outer cover box (21), a second camera (252) arranged on the outer wall of the rotating plate (251), two lighting lamps (253) arranged on the outer wall of the rotating plate (251) and symmetrically arranged with the second camera (252) as an axis, two wiping rods (254) symmetrically arranged on the inner wall of the fan-shaped outer cover box (21), and a sponge pad (255) arranged on the wiping rods (254).

5. The intelligent adaptive weld seam recognition and detection robot according to claim 1, characterized in that: Two elastic extension components (26) are symmetrically arranged on both sides of the fan-shaped outer cover box (21), and the elastic extension component (26) includes a fan-shaped extension plate (261) whose two ends are rotatably connected to the outer walls of the fan-shaped outer cover box (21), two arc-shaped grooves (262) symmetrically embedded in the outer wall of the fan-shaped outer cover box (21), a power block (263) with one end connected to the outer wall of the fan-shaped extension plate (261) and the other end extending into the arc-shaped groove (262), and a spring (264) arranged in the arc-shaped groove (262) and used for elastically supporting the power block (263).

6. The intelligent adaptive weld seam recognition and detection robot according to claim 1, characterized in that: The lifting component (31) comprises a winch (311) disposed on the top of the extension plate (30), a power motor (312) disposed on the extension plate (30) and having an output end connected to the winch (311), a limit electromagnetic ring (313) disposed on the outer wall of the winch (311) and sleeved on the outside of the execution end of the power motor (312), and a rope (314) having one end connected to the winch (311) and the other end passing through the extension plate (30) and connected to the top of the fan-shaped outer cover box (21).

7. The intelligent adaptive weld seam recognition and detection robot according to claim 5, characterized in that: The inner wall of the fan-shaped outer cover box (21) is provided with a partition component (27), and the partition component (27) comprises a first partition plate (271) provided on the inner wall of the fan-shaped outer cover box (21), and a second partition plate (272) provided on the inner wall of the fan-shaped extension plate (261), and the second partition plate (272) is provided with an offset groove (273).

8. The intelligent adaptive weld seam recognition and detection robot according to claim 1, characterized in that: The outer wall of the welding tube (11) is sleeved with a magnetic limiting component (32), and the magnetic limiting component (32) comprises an iron ring (321) sleeved on the outer wall of the welding tube (11), and a positioning electromagnetic ring (322) provided on the top of the inner wall of the fan-shaped outer cover box (21) and sleeved on the outer wall of the welding tube (11).

9. The control system of the intelligent adaptive weld recognition and inspection robot according to any one of claims 1 to 8, comprising a sub-control center (40) electrically connected to the industrial camera (12), the lifting component (31), the lighting and shooting component (25) and the air blowing and cleaning component (24), and a main control center (50) connected to the sub-control center (40) via a network, characterized in that: The master control center (50) comprises a weld path establishment module (51), a weld identification and cleaning module (52), a weld detail detection module (53), a welding parameter adjustment module (54) and a welding module (55); The weld path establishment module (51) is used to receive workpiece information captured by the industrial camera (12) and to establish a welding path; the weld detail detection module (53) is used to trigger the lifting component (31) to move the fan-shaped outer cover box (21) down to the working position and trigger the lighting shooting component (25) to shoot weld details; the weld identification and cleaning module (52) is used to trigger the air blowing and cleaning component (24) to clean the weld; the welding parameter adjustment module (54) is used to receive image information after the weld detail is shot and to adjust the welding parameters accordingly after analysis; and the welding module (55) is used to trigger the robot arm and the welder and to perform welding processing according to the welding parameters.

10. The control system of the intelligent adaptive weld recognition and detection robot according to claim 9, characterized in that: The weld detail detection module (53) comprises an angle setting unit (531), a light source setting unit (532), a groove analysis unit (533), a weld width analysis unit (534) and a workpiece defect analysis unit (535).

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