Pipeline welding robot based on vision and control method

Abstract

The invention relates to the technical field of intelligent welding, and provides a vision-based pipeline welding robot and a control method, and the vision-based pipeline welding robot comprises a main body, an annular track, a movement mechanism, a measurement mechanism and a welding robot; an accommodating space for accommodating a welding pipeline is formed in the main body; the movement mechanism comprises an annular movement assembly and a vertical movement assembly; the annular movement assembly can drive the vertical movement assembly to move along the annular track; the vertical movement assembly is connected with the measuring mechanism and can drive the measuring mechanism to axially move relative to the main body; the measuring mechanism can perform welding seam measurement on the welded pipeline; the welding robot is connected with the vertical movement assembly, and the vertical movement assembly can drive the welding robot to axially move relative to the main body so as to weld the welding pipeline based on the measuring mechanism; the welding track is measured through the measuring robot, the welding track can be accurately determined, and therefore the welding robot is controlled to conduct welding along the welding track, and the optimal welding effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent welding, and in particular to a vision-based pipeline welding robot and a control method. Background Art

[0002] Large or extra-large diameter metal pipes are often used to transport various types of water, gas, oil, etc. Due to the long transportation distance, a large number of pipes usually need to be connected by welding. In addition to manual welding, there is also more automated robot welding, so pipe welding robots are extremely important in the pipeline production and installation process.

[0003] CN118123313B The present invention relates to pipeline welding, and provides a pipeline welding robot, including a driving device, an angle measuring device connected to the driving device, and a welding device connected to the driving device; the driving device is arranged on the outer wall of the pipeline and performs a circular motion around the pipeline; the angle measuring device is used to measure the angle between the connecting line between adjacent welding points on the outer wall of adjacent pipelines and the pipeline axis; the welding device includes an electric welding head, and a rotating device; the rotating device drives the electric welding head to deflect with the outer wall of the pipeline end as the center of the circle according to the angle data measured by the angle measuring device. The pipeline welding robot of the present invention can adjust the corresponding welding angle according to the different alignment degrees between pipelines, so that the welding is more firm and safe.

[0004] CN115815951A The invention discloses a pipeline welding robot, comprising a mounting plate, a plurality of pipeline clamping assemblies, two mechanical arms and two welding guns. The mounting plate is horizontally arranged along the left-right direction. The plurality of pipeline clamping assemblies are installed at intervals along the front-back direction on the mounting plate, and the clamping openings thereof are all downward. The two mechanical arms are respectively installed at two ends of the mounting plate. The two welding guns correspond to the two mechanical arms one by one. Each welding gun is respectively installed at the driving end of the corresponding mechanical arm. The two pipeline clamping assemblies are respectively used to clamp the ends of two pipelines to be welded that are close to each other to be coaxially distributed. The two mechanical arms are respectively used to drive the welding guns to weld the butt joints of the two pipelines. By arranging two groups of pipeline clamping assemblies that are spaced apart from each other, and the two groups of pipeline clamping assemblies are respectively used to clamp the ends of two pipelines to be welded that are close to each other, the welding efficiency is high and the welding precision is good.

[0005] In the prior art, pipeline welding robots are all connected on one side, which is prone to deviation during welding. In addition, the welding gun is moved in a perfect circle to weld the rails, but it is difficult to accurately make the welding gun weld along the abutment trajectory of the two rails, which easily leads to poor pipeline welding results. Summary of the invention

[0006] After long-term production practice, it is found that the pipeline welding robots currently used are all connected on one side, which is easy to produce deviations during welding, and the welding gun may be unstable. In addition, it is difficult to accurately make the welding gun weld according to the abutment trajectory of the two tracks by moving the welding gun in a perfect circle to weld the track, which easily leads to poor pipeline welding effect. Timely adjustment of the welding gun head is also adjusted by manual control, and accurate welding cannot be achieved. In view of this, the present invention provides a vision-based pipeline welding robot and a control method thereof to at least solve the above technical problems existing in the prior art.

[0007] In a first aspect, the present invention proposes a vision-based pipeline welding robot, which includes: a main body, an annular track, a motion mechanism, a measuring mechanism and a welding robot; a containing space is formed in the main body for accommodating the welding pipeline; the annular track is fixedly connected to the main body; the motion mechanism includes an annular motion component and a vertical motion component; the annular motion component is slidably connected in the annular track, and the annular motion component can move along the annular track; the annular motion component is connected to the vertical motion component, and the annular motion component can drive the vertical motion component to move along the annular track; the vertical motion component is connected to the measuring mechanism, and the vertical motion component can drive the measuring mechanism to move axially relative to the main body; the measuring mechanism can measure the weld of the welding pipeline; the welding robot is connected to the vertical motion component, and the vertical motion component can drive the welding robot to move axially relative to the main body, so as to weld the welding pipeline based on the measuring mechanism.

[0008] In one embodiment, the welding robot includes a welding gun part and a welding gun adjustment mechanism; the welding gun part is connected to the welding gun adjustment mechanism, the welding gun adjustment mechanism is connected to the vertical motion assembly, and the welding gun adjustment mechanism can adjust the relative position of the welding gun part and the welding pipe; the welding gun part is used to weld the welding pipe.

[0009] In one embodiment, the annular motion assembly includes a moving part, the moving part is formed with a slot, and the slot is snapped into the raised part of the annular track; the annular motion assembly includes a sliding member and a first driving member, the sliding member is connected to the moving part, when the slot of the moving part is snapped into the raised part of the annular track, the sliding member abuts against both sides of the raised part of the annular track; the first driving member is fixed to one side of the moving part, and the first driving member can drive the sliding member to move relative to the annular track, so as to drive the annular motion assembly to move relative to the annular track.

[0010] In one embodiment, the annular motion assembly further includes a connecting portion, wherein the connecting portion is connected to the motion portion; and the connecting portion is connected to the vertical motion assembly.

[0011] In one embodiment, the vision-based pipeline welding robot includes two circular tracks; the two circular tracks are respectively connected to two ends of the main body for connection with the vertical motion component.

[0012] In one embodiment, the vertical motion assembly includes a screw, a second drive member and a connecting bracket; the annular motion assembly also includes a connecting portion, which is formed with a movable hole; the screw is connected to the second drive member through the movable hole; the second drive member is fixed on the side of the connecting portion facing away from the screw, and the second drive member can drive the screw to rotate; the connecting bracket is formed with a threaded hole, and the connecting bracket is connected to the screw through the threaded hole, and when the screw rotates, the connecting bracket can be lifted or lowered relative to the main body through the cooperation between the threaded hole and the screw; the connecting bracket is connected to the visual measurement mechanism.

[0013] In one embodiment, the connecting part is formed with a fixing hole; the vertical motion assembly also includes a guide column, and the guide column is connected to the connecting part through the fixing hole; the connecting bracket is formed with a guide hole, and the connecting bracket is connected to the guide column through the guide hole, and the cooperation of the guide hole, threaded hole, screw rod and guide column can make the connecting bracket face the main body in a specified state.

[0014] In one embodiment, the connecting bracket is connected to the welding robot on a side facing away from the welding pipe; a welding gun adjustment mechanism of the welding robot is connected to the connecting bracket so that the welding gun faces the welding pipe.

[0015] In a second aspect of the present invention, a control method is provided, which includes: placing a welding pipe in a containing space of a main body; controlling a motion mechanism so that a measuring mechanism connected to the motion mechanism measures the welding pipe along a specified trajectory to obtain a measurement image; performing image processing based on the measurement image obtained by the measuring mechanism to obtain measurement data corresponding to the measurement image; determining a welding trajectory corresponding to a welding robot based on the measurement data; and controlling the motion mechanism so that the welding robot connected to the motion mechanism welds the welding pipe along the welding trajectory.

[0016] In one embodiment, the motion mechanism is controlled so that a measuring mechanism connected to the motion mechanism measures the welding pipe along a specified trajectory to obtain a measurement image, including: controlling the annular motion component to move along an annular track abutting against the main body; through the movement of the annular motion component, the vertical motion component can be driven to move synchronously with the annular motion component; through the vertical motion component, the measuring mechanism can be driven to move up and down relative to the main body; through the simultaneous control of the annular motion component and the vertical motion component, the measuring mechanism can measure the welding pipe along a specified trajectory to obtain a measurement image; or a welding robot can perform welding operations on the welding pipe along a welding trajectory.

[0017] The vision-based pipeline welding robot disclosed in the present invention includes a main body, an annular track, a motion mechanism, a measuring mechanism and a welding robot; an accommodating space is formed in the main body for accommodating the welding pipeline; the annular track is fixedly connected to the main body; the motion mechanism includes an annular motion component and a vertical motion component; the annular motion component is slidably connected in the annular track, and the annular motion component can move along the annular track; the annular motion component is connected to the vertical motion component, and the annular motion component can drive the vertical motion component to move along the annular track; the vertical motion component is connected to the measuring mechanism, and the vertical motion component can drive the axial movement of the measuring mechanism relative to the main body; the measuring mechanism can measure the weld of the welding pipeline; the welding robot is connected to the vertical motion component, and the vertical motion component can drive the axial movement of the welding robot relative to the main body, so as to weld the welding pipeline based on the measuring mechanism; the present application can make the movement of the welding robot more stable by setting up double-sided annular tracks in conjunction with the welding robot, and can accurately determine the welding trajectory by measuring the welding trajectory through the measuring robot, thereby controlling the welding robot to weld along the welding trajectory, thereby achieving the best welding effect.

[0018] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a schematic structural diagram of a vision-based pipeline welding robot according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a vision-based pipeline welding robot measurement mechanism according to an embodiment of the present invention;

[0022] Figure 3A schematic diagram of a moving part of a vision-based pipeline welding robot according to an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a pipeline side of a vision-based pipeline welding robot according to an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of a welding gun of a vision-based pipeline welding robot according to an embodiment of the present invention.

[0025] Explanation of the reference numerals: 1. Main body; 11. Accommodating space; 12. Placement entrance; 2. Annular track; 21. Raised portion; 3. Moving mechanism; 31. Annular moving assembly; 311. Moving portion; 312. Slot; 3111. First driving member; 3112. Sliding member; 313. Connecting portion; 32. Vertical moving assembly; 321. Screw rod; 322. Second driving member; 323. Connecting bracket; 324. Guide column; 4. Measuring mechanism; 5. Welding robot; 51. Welding gun; 52. Welding gun adjustment mechanism; 521. First adjustment mechanism; 522. Second adjustment mechanism. DETAILED DESCRIPTION

[0026] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0029] After long-term production practice, it is found that the pipeline welding robots 5 currently used are all connected on one side, which is easy to produce deviations during welding, and the welding gun 51 may be unstable. In addition, it is difficult to accurately make the welding gun 51 weld according to the abutment track of the two tracks by moving the welding gun 51 in a perfect circle, which easily leads to poor pipeline welding effect. Timely adjustment of the welding gun 51 head is also adjusted by manual control, and accurate welding cannot be achieved. In view of this, the present invention provides a vision-based pipeline welding robot 5 and a control method thereof to at least solve the above technical problems existing in the prior art.

[0030] Figure 1 This is a schematic structural diagram of a vision-based pipeline welding robot 5 according to an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a measurement mechanism 4 of a vision-based pipeline welding robot 5 according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the motion part 311 of the vision-based pipeline welding robot 5 according to an embodiment of the present invention; please refer to Figure 1 , Figure 2 and Figure 3 ;

[0031] In a first aspect, the present invention proposes a vision-based pipeline welding robot 5, which includes: a main body 1, an annular track 2, a motion mechanism 3, a measuring mechanism 4 and a welding robot 5; a containing space 11 is formed in the main body 1 for accommodating the welding pipeline; the annular track 2 is fixedly connected to the main body 1; the motion mechanism 3 includes an annular motion component 31 and a vertical motion component 32; the annular motion component 31 is slidably connected in the annular track 2, and the annular motion component 31 can move along the annular track 2; the annular motion component 31 is connected to the vertical motion component 32, and the annular motion component 31 can drive the vertical motion component 32 to move along the annular track 2; the vertical motion component 32 is connected to the measuring mechanism 4, and the vertical motion component 32 can drive the axial movement of the measuring mechanism 4 relative to the main body 1; the measuring mechanism 4 can measure the weld of the welding pipeline; the welding robot 5 is connected to the vertical motion component 32, and the vertical motion component 32 can drive the axial movement of the welding robot 5 relative to the main body 1, so as to weld the welding pipeline based on the measuring mechanism 4.

[0032] The vision-based pipeline welding robot 5 disclosed in the present invention comprises a main body 1, an annular track 2, a motion mechanism 3 and a measuring mechanism 4; a housing space 11 is formed in the main body 1 for accommodating the welding pipeline; the annular track 2 is fixedly connected to the main body 1; the motion mechanism 3 comprises an annular motion component 31 and a vertical motion component 32; through the setting of the annular track 2 and the motion mechanism 3, the measuring mechanism 4 makes axial and radial movements relative to the main body 1 along the annular track 2, and specifically, through the simultaneous control of the annular motion component 31 and the vertical motion component 32, the measuring mechanism 4 measures the welding pipeline with a specified trajectory. Through the separate control of the annular motion component 31 and the vertical motion component 32, the control method of the measuring mechanism 4 can be simplified, and the control of the measuring mechanism 4 can be realized by only splitting the specified trajectory into movements in the axial and radial directions. Moreover, the two motion mechanisms 3 can be independently controlled through programming, so that the measuring mechanism 4 can move along the specified trajectory more accurately, thereby avoiding the superposition of errors. The measuring mechanism 4 is arranged outside the welding pipe and the welding pipe is placed inside the welding pipe, so that interference between the measuring mechanism 4 and the welding pipe can be avoided, thereby avoiding damage to the measuring mechanism 4 and the welding pipe due to interference.

[0033] In an embodiment of the present invention, the welding pipe is a metal pipe, and the measuring mechanism 4 can measure the weld of the welding pipe through a measuring camera to accurately determine the trajectory required for welding; and is connected to the welding pipe through two circular tracks 2 so that the welding pipe is located in the pipe welding robot 5.

[0034] The annular track 2 is used to connect with the welding pipe to connect the motion mechanism 3 and the measuring mechanism 4 to the periphery of the welding pipe. The annular track 2 is fixedly connected to the welding pipe. Specifically, the annular track 2 can be clamped to the outside of the welding pipe by clearance fit, or can be fixed to the outside of the welding pipe by bonding or the like, and can be adjustably connected to the outside of the welding pipe. Specifically, there can be two annular tracks 2, which are respectively fixed at both ends of the welding pipe, so that the motion posture of the motion mechanism 3 connected thereto can be more stable. In order to avoid errors when the welding gun 51 moves; the annular track 2 is an annular track 2 in the shape of a convex letter, and can preferably be a circular track to make the movement more stable. It can further be set as a gear track.

[0035] The motion mechanism 3 includes an annular motion component 31 and a vertical motion component 32; wherein, the annular motion component 31 is clamped in the annular track 2, and can be slidably connected with the annular track 2 at the internal sliding member 3112, and the annular motion component 31 can make circular motion along the annular track 2; wherein, when there are two annular tracks 2, the annular motion component 31 also includes two respectively arranged on the upper and lower annular tracks 2, and the vertical motion component 32 is connected between the two annular motion components 31.

[0036] The annular motion component 31 is connected to the vertical motion component 32. Since the vertical motion component 32 is connected to the annular motion component 31, when the annular motion component 31 moves relative to the annular track 2, the annular motion component 31 can drive the vertical motion component 32 to move synchronously with the annular motion component 31 along the annular track 2. The vertical motion component 32 is at least provided with a connecting bracket 323 for connecting the measuring mechanism 4 and the welding robot 5. The vertical motion component 32 can drive the measuring mechanism 4 and the welding robot 5 to move axially relative to the welding pipe, that is, to perform vertical lifting and lowering movement relative to the pipe end face, and the movement direction is perpendicular to the movement direction of the annular track 2. Therefore, by controlling the vertical motion mechanism 3 and the annular motion mechanism 3, the measuring mechanism 4 can move along the specified path. The specified path can be set in advance by the staff. The measuring mechanism 4 includes a measuring camera, which is used to measure the welding pipe in the welding pipe.

[0037] Figure 4 A schematic diagram of a pipeline side of a vision-based pipeline welding robot 5 according to an embodiment of the present invention; Figure 5 Schematic diagram of a welding gun 51 of a vision-based pipeline welding robot 5 according to an embodiment of the present invention. Figure 4 and Figure 5 ;

[0038] Further, the welding robot 5 includes a welding gun 51 and a welding gun adjustment mechanism 52; the welding gun 51 is connected to the welding gun adjustment mechanism 52, the welding gun adjustment mechanism 52 is connected to the vertical motion assembly 32, and the welding gun adjustment mechanism 52 can adjust the relative position of the welding gun 51 and the welding pipe; the welding gun 51 is used to weld the welding pipe. The welding gun adjustment mechanism 52 includes a first adjustment mechanism 521 perpendicular to the welding pipe and a second adjustment mechanism 522 horizontally connected to the bracket 323 to achieve four-way adjustment of the welding gun 51, so as to facilitate the welding of the pipe with the welding gun 51 along the weld measured by the measuring mechanism 4. Among them, the first adjustment mechanism 521 includes a first servo motor and a first track, and the second adjustment mechanism 522 includes a second servo motor and a second track, and the first track and the second track are perpendicular.

[0039] Figure 3 This is a schematic diagram of a moving part 311 of a vision-based pipeline welding robot 5 according to an embodiment of the present invention. In step 301;

[0040] In one embodiment, the annular motion component 31 includes a moving part 311, and the moving part 311 is formed with a slot 312, and the slot 312 is snapped into the raised part 21 of the annular track 2; the annular motion component 31 includes a sliding member 3112 and a first driving member 3111, and the sliding member 3112 is connected to the moving part 311, and when the slot 312 of the moving part 311 is snapped into the raised part 21 of the annular track 2, the sliding member 3112 abuts against both sides of the raised part 21 of the annular track 2; the first driving member 3111 is fixed on one side of the moving part 311, and the first driving member 3111 can drive the sliding member 3112 to move relative to the annular track 2, so as to drive the annular motion component 31 to move relative to the annular track 2.

[0041] In the embodiment of the present invention, the moving part 311 can be a functional part of the slider of the annular motion component 31, specifically, the part of the slider used to engage with the annular track 2. Specifically, the moving part 311 is formed with a curved slot 312 matching the shape of the annular track 2 toward the annular track 2. The moving part 311 can be engaged with the raised part 21 of the annular track 2 through the curved slot 312. Specifically, a sliding member 3112 can be provided at the abutment between the inner core of the curved slot 312 of the moving part 311 and the two sides of the annular track 2, so that the annular motion component 31 can move more smoothly relative to the annular track 2. Specifically, the annular motion component 31 includes a sliding member 3112 and a first driving member 3111, and the sliding member 3112 can be a sliding roller. The sliding roller is rotatably connected to the moving part 311, and the first driving member 3111 is fixed on one side of the slider. The first driving member 3111 is connected to the sliding roller in a transmission manner to drive the sliding roller to rotate, so that the annular motion component 31 can rotate relative to the annular track 2. When the slot 312 of the moving part 311 is engaged with the protrusion 21 of the annular track 2, the sliding member 3112 abuts against both sides of the protrusion 21 of the annular track 2; by abutting on both sides, the motion state of the moving part 311 on the annular track 2 can be made more stable, thereby ensuring that the measurement information obtained by the measuring mechanism 4 when measuring the welding pipeline is more accurate. It can also ensure that the weld obtained by the welding robot 5 when welding the welding pipeline is more accurate.

[0042] Further, the annular motion assembly 31 also includes a connecting portion 313. Specifically, the connecting portion 313 is a functional portion in the slider of the annular motion assembly 31 for connecting with the vertical motion assembly 32. The connecting portion 313 is connected to the upper side of the motion portion 311 perpendicular to the end face of the pipe, that is, in a direction parallel to the annular track 2; wherein the vertical motion assembly 32 is connected between the sliders of the two annular motion assemblies 31, and the setting direction of the vertical motion assembly 32 can be made parallel to the radial direction of the welding pipe by setting the connecting portion 313 parallel to the annular track 2. Thus, the parallelism of the measuring mechanism 4 relative to the target to be measured can be ensured, thereby facilitating subsequent image processing and facilitating the reconstruction of three-dimensional images. Further, after welding, the three-dimensional image can be reconstructed by the measuring mechanism 4 to determine whether the weld is qualified. wherein, the connecting portion 313 is connected to the vertical motion assembly 32, so that the vertical motion assembly 32 can be driven to move synchronously through the movement of the annular motion assembly 31 through the connecting portion 313.

[0043] In one embodiment, the vertical motion assembly 32 includes a screw rod 321, a second driving member 322 and a connecting bracket 323; the annular motion assembly 31 also includes a connecting portion 313, which is formed with a movable hole; the screw rod 321 is connected to the second driving member 322 through the movable hole; the second driving member 322 is fixed to the side of the connecting portion 313 facing away from the screw rod 321, and the second driving member 322 can drive the screw rod 321 to rotate; the connecting bracket 323 is formed with a threaded hole, and the connecting bracket 323 is connected to the screw rod 321 through the threaded hole. When the screw rod 321 rotates, the connecting bracket 323 can be lifted and lowered relative to the welding pipe through the cooperation between the threaded hole and the screw rod 321; the connecting bracket 323 is connected to the visual measurement mechanism 4. The connecting bracket 323 is connected to the welding robot 5 on the side facing away from the welding pipe; the welding gun adjustment mechanism 52 of the welding robot 5 is connected to the connecting bracket 323 so that the welding gun 51 faces the welding pipe.

[0044] In the embodiment of the present invention, both ends of the screw rod 321 are connected to the annular motion component 31, wherein any one end exceeds the annular motion component 31 and is connected to the second driving member 322. Specifically, both ends of the screw rod 321 are connected to the annular motion component 31 through the connecting portion 313. The connecting portion 313 is formed with a movable hole; the screw rod 321 is connected to the second driving member 322 through the movable hole; the second driving member 322 can be a reduction motor, the second driving member 322 is fixed to the side of the connecting portion 313 facing away from the screw rod 321, the output shaft of the second driving member 322 is connected to the screw rod 321, and the second driving member 322 can drive the screw rod 321 to rotate. Furthermore, a threaded hole is formed on the connecting bracket 323, and the connecting bracket 323 is connected to the screw rod 321 through the threaded hole. When the screw rod 321 rotates, the connecting bracket 323 can be lifted and lowered relative to the welding pipe through the cooperation between the threaded hole and the screw rod 321; the connecting bracket 323 is connected to the measuring mechanism 4, so that the measuring mechanism 4 is driven to move through the connecting bracket 323, thereby measuring the welding pipe in the welding pipe. Among them, the control of the measuring mechanism 4 can also be achieved through the cooperation between the connecting bracket 323 and the ball screw 321.

[0045] Since the single threaded rod 321 structure will make it impossible to fix the angle of the measuring mechanism 4 relative to the welding pipe, the connecting part 313 of the present invention is formed with a fixing hole; the fixing hole is the same as the radial direction of the welding pipe; correspondingly, the vertical motion component 32 also includes a guide column 324, which can be connected to the connecting part 313 through the fixing hole; wherein the guide column 324 can be fixed between the fixing holes of the two connecting parts 313, so that the guidance of the measuring mechanism 4 is more stable. Further, the connecting bracket 323 is formed with a guide hole, and the connecting bracket 323 is connected to the guide column 324 through the guide hole, wherein the size of the guide hole is larger than the size of the guide column 324, and can be an interference fit, so that when the measuring mechanism 4 can move up and down relative to the guide column 324, the guide hole will not interfere with the guide column 324, and can also play a guiding role. Among them, it is also possible to make the connecting bracket 323 face the welding pipe in a specified state through the cooperation of the guide hole, the threaded hole, the threaded rod 321 and the guide column 324, so that the obtained angle is consistent, so as to facilitate the subsequent three-dimensional reconstruction of the welding pipe based on the measurement image. In addition, the error of adjusting the measuring mechanism 4 by the screw rod 321 is smaller than that of the multi-axis robot arm. The control accuracy of the screw rod 321 is higher, which enables the measuring mechanism 4 to measure more accurately along the specified path, thereby obtaining more accurate measurement results.

[0046] In a second aspect of the present invention, a control method is provided, which includes: placing a welding pipe in a containing space 11 of a main body 1; controlling a motion mechanism 3 so that a measuring mechanism 4 connected to the motion mechanism 3 measures the welding pipe along a specified trajectory to obtain a measurement image; performing image processing based on the measurement image obtained by the measuring mechanism 4 to obtain measurement data corresponding to the measurement image; determining a welding trajectory corresponding to a welding robot 5 based on the measurement data; and controlling the motion mechanism 3 so that the welding robot 5 connected to the motion mechanism 3 welds the welding pipe along the welding trajectory.

[0047] In a specific embodiment of the present invention, the motion mechanism 3 is controlled so that the measuring mechanism 4 connected to the motion mechanism 3 measures the welding pipeline along a specified trajectory to obtain a measurement image, including: controlling the annular motion component 31 to control the annular motion component 31 to move along the annular track 2 abutting against the main body 1; through the movement of the annular motion component 31, the vertical motion component 32 can be driven to move synchronously with the annular motion component 31; through the vertical motion component 32, the measuring mechanism 4 can be driven to move up and down relative to the main body 1; through the simultaneous control of the annular motion component 31 and the vertical motion component 32, the measuring mechanism 4 can measure the welding pipeline along a specified trajectory to obtain a measurement image; or the welding robot 5 can perform welding operations on the welding pipeline along the welding trajectory.

[0048] In actual control, the specified path can be disassembled into the control of the vertical motion component 32 and the circular motion component 31, so that the control of the path can be achieved. The present application has a simple structure, so it has a high robustness. It can achieve all-round adjustment of the measuring mechanism 4 and the welding robot 5. The fixed target to be measured and the fixed shooting posture of the measuring mechanism 4 can make it easier to calculate and analyze the obtained pictures to obtain a three-dimensional reconstruction model, which is convenient for the early weld determination and the later three-dimensional reconstruction.

[0049] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0050] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0051] In the several embodiments provided by the present invention, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0052] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0053] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0054] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vision-based pipeline welding robot, characterized in that: The vision-based pipeline welding robot (5) comprises: a main body (1), a circular track (2), a motion mechanism (3), a measuring mechanism (4) and a welding robot (5); a receiving space (11) is formed in the main body (1) for receiving the welding pipeline; The annular track (2) is fixedly connected to the main body (1); the motion mechanism (3) comprises an annular motion component (31) and a vertical motion component (32); The annular motion component (31) is slidably connected in the annular track (2), and the annular motion component (31) can move along the annular track (2); the annular motion component (31) is connected to the vertical motion component (32), and the annular motion component (31) can drive the vertical motion component (32) to move along the annular track (2); The vertical motion component (32) is connected to the measuring mechanism (4), and the vertical motion component (32) is capable of driving the measuring mechanism (4) to move axially relative to the main body (1); The measuring mechanism (4) is capable of measuring the weld seam of the welded pipeline; The welding robot (5) is connected to the vertical motion component (32), and the vertical motion component (32) can drive the welding robot (5) to move axially relative to the main body (1) so as to weld the welding pipe based on the measuring mechanism (4).

2. The vision-based pipeline welding robot according to claim 1, characterized in that: The welding robot (5) comprises a welding gun (51) and a welding gun adjustment mechanism (52); The welding gun (51) is connected to the welding gun adjustment mechanism (52), and the welding gun adjustment mechanism (52) is connected to the vertical motion assembly (32). The welding gun adjustment mechanism (52) can adjust the relative position of the welding gun (51) and the welding pipe; The welding gun (51) is used for welding the welding pipeline.

3. The vision-based pipeline welding robot according to claim 1, characterized in that: The annular motion component (31) comprises a motion part (311), the motion part (311) is formed with a clamping groove (312), and the clamping groove (312) is clamped to the protrusion (21) of the annular track (2); The annular motion component (31) comprises a sliding member (3112) and a first driving member (3111); the sliding member (3112) is connected to the motion part (311); when the slot (312) of the motion part (311) is engaged with the protruding part (21) of the annular track (2), the sliding member (3112) abuts against two sides of the protruding part (21) of the annular track (2); The first driving member (3111) is fixed to one side of the moving part (311), and the first driving member (3111) is capable of driving the sliding member (3112) to move relative to the annular track (2), so as to drive the annular motion component (31) to move relative to the annular track (2).

4. The vision-based pipeline welding robot according to claim 3, characterized in that: The annular motion component (31) further comprises a connecting portion (313), wherein the connecting portion (313) is connected to the motion portion (311); The connecting portion (313) is connected to the vertical motion component (32).

5. The vision-based pipeline welding robot according to claim 1, characterized in that: The vision-based pipeline welding robot (5) comprises two circular tracks (2); The two annular tracks (2) are respectively connected to the two ends of the main body (1) for connection with the vertical motion component (32).

6. The vision-based pipeline welding robot according to claim 2, characterized in that: The vertical motion assembly (32) comprises a screw rod (321), a second driving member (322) and a connecting bracket (323); The annular motion component (31) further comprises a connecting portion (313), wherein the connecting portion (313) is formed with a movable hole; The screw rod (321) is connected to the second driving member (322) through the movable hole; The second driving member (322) is fixed to a side of the connecting portion (313) facing away from the screw rod (321), and the second driving member (322) can drive the screw rod (321) to rotate; The connecting bracket (323) is formed with a threaded hole, and the connecting bracket (323) is connected to the screw rod (321) through the threaded hole. When the screw rod (321) rotates, the connecting bracket (323) can be lifted or lowered relative to the main body (1) through the cooperation between the threaded hole and the screw rod (321); The connecting bracket (323) is connected to the visual measurement mechanism (4).

7. The vision-based pipeline welding robot according to claim 6, characterized in that: The connecting portion (313) is formed with a fixing hole; The vertical motion assembly (32) further comprises a guide column (324), wherein the guide column (324) is connected to the connecting portion (313) through the fixing hole; The connecting bracket (323) is formed with a guide hole, and the connecting bracket (323) is connected to the guide column (324) through the guide hole. The cooperation of the guide hole, the threaded hole, the screw rod (321) and the guide column (324) can enable the connecting bracket (323) to face the main body (1) in a specified state.

8. The vision-based pipeline welding robot according to claim 6, characterized in that: The connecting bracket (323) is connected to the welding robot (5) at a side facing away from the welding pipeline; The welding gun adjustment mechanism (52) of the welding robot (5) is connected to the connecting bracket (323) so that the welding gun (51) faces the welding pipeline.

9. A control method, characterized in that: The control method comprises: The welding pipe is accommodated in the accommodation space (11) of the main body (1); By controlling the motion mechanism (3), a measuring mechanism (4) connected to the motion mechanism (3) measures the welding pipeline along a specified trajectory to obtain a measurement image; Performing image processing based on the measurement image obtained by the measurement mechanism (4) to obtain measurement data corresponding to the measurement image; Determining a welding trajectory corresponding to a welding robot (5) based on the measurement data; By controlling the motion mechanism (3), a welding robot (5) connected to the motion mechanism (3) is enabled to weld the welding pipeline along a welding track.

10. The control method according to claim 9, characterized in that: The method controls the motion mechanism (3) so that a measuring mechanism (4) connected to the motion mechanism (3) measures the welding pipeline along a specified trajectory to obtain a measurement image, including: By controlling the annular motion component (31), the annular motion component (31) is controlled to move along an annular track (2) abutting against the main body (1); The movement of the annular motion component (31) can drive the vertical motion component (32) to move synchronously with the annular motion component (31); The measuring mechanism (4) can be driven to move up and down relative to the main body (1) by means of a vertical motion component (32); By simultaneously controlling the circular motion component (31) and the vertical motion component (32), the measuring mechanism (4) can measure the welding pipeline along a specified trajectory to obtain a measurement image; or the welding robot (5) can perform a welding operation on the welding pipeline along a welding trajectory.

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