Automatic welding robot based on machine vision guidance

Abstract

The invention provides an automatic welding robot based on machine vision guiding, and relates to the technical field of welding, the automatic welding robot comprises a welding robot body, a fixing frame is arranged on the welding robot body, a welding gun and a vision guiding mechanism are arranged on the fixing frame, a dust suction hood is arranged outside the welding gun, and a dust suction cavity is formed in the dust suction hood; an air pump is arranged outside the dust collection cover, the input end of the air pump is communicated with the interior of the dust collection cavity through a discharge hole, a collection ring is arranged at the bottom of the dust collection cover, a collection cavity is formed in the collection ring, and the output end of the air pump is communicated with the interior of the collection cavity through a collection pipe. According to the welding device, when the welding gun is used for welding, the sucking pump is started, smoke dust generated during welding enters the dust collection cavity through the dust collection holes and is pumped into the collection cavity of the collection ring through the sucking pump, the smoke dust generated in the welding process is reduced, the image quality of images obtained by the visual guiding mechanism is improved, and therefore the welding accuracy is enhanced, and the welding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to an automatic welding robot guided by machine vision. Background Art

[0002] The automatic welding robot guided by machine vision is an important technology in the field of contemporary industrial automation. It combines machine vision technology with welding robots to achieve a high degree of automation and intelligence in the welding process. Machine vision technology uses devices such as cameras or laser scanners to obtain three-dimensional data of welding workpieces in real time, including information such as shape, position, and size. These data are analyzed through image processing and pattern recognition algorithms and are used to guide the operation of welding robots. The welding robot accurately locates the welding point, plans the welding path, and performs the welding task based on the guidance information provided by the machine vision system.

[0003] The Chinese patent with the authorization announcement number CN117245217B discloses a robot welding device with automatic error compensation function, which relates to the technical field of welding equipment, including a frame, a linear drive mechanism, a visual laser positioning mechanism, a joint placement frame, a first quick-change head and a second quick-change head. The present invention adopts a first quick-change head and a second quick-change head, which can realize the selection of laser welding heads, laser marking heads and robot claws for rapid replacement according to actual needs, which can shorten the time for workers to change tools using traditional methods, reduce its danger, improve the work efficiency of robots, reduce the cost of robots, improve the application level of robots, and promote the transformation of robot application methods; the visual laser positioning mechanism adopts the integration of visual technology and laser positioning technology to collect the working status of welding workpieces in real time, guide the robot to realize automatic error compensation, and improve the overall production quality of products and improve production efficiency.

[0004] However, the above-mentioned welding device is prone to generate smoke during the welding process. The interference of the smoke will cause the image quality of the visual laser positioning mechanism to deteriorate, thereby affecting the control of the welding process and reducing the welding quality. Summary of the invention

[0005] The present invention provides an automatic welding robot based on machine vision guidance, which is used to solve the technical problem that the current welding device is prone to generate smoke during the welding process, and the interference of the smoke will cause the image quality of the visual laser positioning mechanism to decrease, thereby affecting the control of the welding process and reducing the welding quality.

[0006] In order to solve the above technical problems, the present invention discloses an automatic welding robot based on machine vision guidance, comprising: a welding robot body, a fixing frame is arranged on the welding robot body, a welding gun and a visual guidance mechanism are arranged on the fixing frame, a dust hood is arranged outside the welding gun, a dust suction chamber is arranged inside the dust hood, a dust suction hole is arranged on the inner wall of the dust hood, the lower end of the dust suction chamber is connected with the inside of the dust hood through the dust suction hole, an exhaust pump is arranged outside the dust hood, the input end of the exhaust pump is connected with the inside of the dust suction chamber through the discharge hole, the discharge hole is arranged on the outer wall of the dust hood, a collecting ring is arranged at the bottom of the dust hood, a collecting chamber is arranged in the collecting ring, and the output end of the exhaust pump is connected with the inside of the collecting chamber through a collecting pipe.

[0007] Preferably, the collecting ring is annular in structure, a connecting hole is arranged at the upper end of the collecting ring, and the inner wall of the connecting hole is connected to the outer wall of the dust hood.

[0008] Preferably, the dust suction chamber is annular in structure, the central axis of the dust suction chamber is in the same straight line as the central axis of the dust suction hood, a plurality of dust suction holes are provided, and the plurality of dust suction holes are distributed in an annular array about the central axis of the dust suction hood.

[0009] Preferably, an annular baffle is arranged in the dust suction chamber, and the central axis of the annular baffle is in the same straight line with the central axis of the dust suction chamber, the outer wall of the annular baffle is connected to the inner wall of the dust suction chamber away from the welding gun through a plurality of connecting columns, the lower end of the annular baffle is connected to the bottom wall of the connecting hole, a plurality of mounting holes are arranged in the annular baffle, a dustproof net is arranged in the mounting hole, an annular piston plate is arranged above the annular baffle, the upper surface of the annular piston plate is connected to the top wall of the dust suction chamber through a plurality of first return springs, the side wall of the annular piston plate is connected to the inner wall of the dust suction chamber for vertical sliding connection, an annular sealing plate is arranged on the inner side of the annular baffle, the upper end of the annular sealing plate is connected to the lower surface of the annular piston plate, the side wall of the annular sealing plate is connected to the inner wall of the annular baffle for vertical sliding connection, a connecting groove is arranged on the inner wall of the dust suction chamber, and the connecting groove is located between the annular piston plate and the discharge hole.

[0010] Preferably, the cross-section of the connecting groove is in the shape of a right triangle, and the depth of the upper end of the connecting groove is greater than the depth of the lower end of the connecting groove.

[0011] Preferably, a plurality of collecting holes are provided on the collecting ring, and both ends of the collecting holes are respectively connected with the space on one side of the annular baffle away from the dust suction hole and the upper end of the collecting cavity.

[0012] Preferably, a plurality of collecting holes 2 are arranged on the collecting ring, and the two ends of the collecting holes 2 are respectively connected with the space on one side of the annular baffle plate close to the dust suction hole and the upper end of the collecting chamber. A fixing rod is arranged in the collecting hole 2, and the upper end of the fixing rod is connected with the lower end of the annular sealing plate. The lower end of the fixing rod extends into the collecting chamber and a sealing movable block is arranged. The outer wall of the sealing movable block is connected with the inner wall of the collecting hole 2 in an up and down sliding manner.

[0013] Preferably, a solenoid valve is provided on the collecting pipe.

[0014] Preferably, a protective cover is provided outside the visual guide mechanism, the upper end of the protective cover is connected to the fixing frame, and the lower end of the protective cover is provided with an opening.

[0015] Preferably, a cavity is provided inside the protective cover, the other output end of the vacuum pump is connected to the inside of the cavity through a connecting pipe, a plurality of air jets are provided on the inner wall of the protective cover, and the plurality of air jets are distributed in a circular array about the central axis of the protective cover.

[0016] The technical solution of the present invention has the following advantages: the present invention provides an automatic welding robot based on machine vision guidance, which relates to the field of welding technology, including a welding robot body, a fixing frame is arranged on the welding robot body, a welding gun and a visual guidance mechanism are arranged on the fixing frame, a dust hood is arranged outside the welding gun, a dust suction chamber is arranged inside the dust hood, a dust suction hole is arranged on the inner wall of the dust hood, the lower end of the dust suction chamber is connected with the inside of the dust hood through the dust suction hole, an air pump is arranged outside the dust hood, the input end of the air pump is connected with the inside of the dust suction chamber through the discharge hole, the discharge hole is arranged on the outer wall of the dust hood, a collection ring is arranged at the bottom of the dust hood, a collection chamber is arranged in the collection ring, and the output end of the air pump is connected with the inside of the collection chamber through a collection pipe. In the present invention, when welding with a welding gun, the air pump is started, and the smoke generated during welding enters the dust suction chamber through the dust suction hole, and is extracted into the collection chamber of the collection ring through the air pump, which reduces the smoke generated during welding, helps to improve the image quality of the image obtained by the visual guidance mechanism, thereby enhancing the accuracy of welding, and improving the welding quality and welding efficiency.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the devices particularly pointed out in the written description and the drawings of the description.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of an automatic welding robot based on machine vision guidance in the present invention;

[0021] Figure 2 It is a schematic diagram of the internal structure of the dust cover and the protective cover in the present invention;

[0022] Figure 3 For the present invention Figure 2 A magnified view of the structure at center;

[0023] Figure 4 For the present invention Figure 2 A magnified view of the structure at B in the middle;

[0024] Figure 5 It is a top view of the annular baffle in the present invention.

[0025] In the figure: 1. welding robot body; 2. fixing frame; 3. welding gun; 4. visual guidance mechanism; 5. dust hood; 6. dust suction chamber; 7. dust suction hole; 8. vacuum pump; 9. collecting ring; 10. collecting chamber; 11. annular baffle; 12. connecting column; 13. dust net; 14. annular piston plate; 15. first return spring; 16. annular sealing plate; 17. connecting groove; 18. collecting hole one; 19. collecting hole two; 20. fixing rod; 21. sealing moving block; 22. protective cover; 23. cavity; 24. connecting pipe; 25. air outlet; 26. elastic baffle; 27. fixing plate; 28. first cylinder; 29. ​​second cylinder; 30. sliding plate; 31. positioning plate; 32. second return spring; 33. observation tube; 34. air outlet; 35. air outlet pipe; 36. blocking plate; 37. third return spring. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0027] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] Example 1

[0029] The embodiment of the present invention provides an automatic welding robot based on machine vision guidance, such as Figure 1-Figure 5As shown, it includes: a welding robot body 1, a fixing frame 2 is arranged on the welding robot body 1, a welding gun 3 and a visual guidance mechanism 4 are arranged on the fixing frame 2, a dust hood 5 is arranged outside the welding gun 3, a dust suction chamber 6 is arranged inside the dust hood 5, a dust suction hole 7 is arranged on the inner wall of the dust hood 5, the lower end of the dust suction chamber 6 is connected with the inside of the dust hood 5 through the dust suction hole 7, an air pump 8 is arranged outside the dust hood 5, the input end of the air pump 8 is connected with the inside of the dust suction chamber 6 through the discharge hole, the discharge hole is arranged on the outer wall of the dust hood 5, a collecting ring 9 is arranged at the bottom of the dust hood 5, a collecting chamber 10 is arranged in the collecting ring 9, and the output end of the air pump 8 is connected with the inside of the collecting chamber 10 through a collecting pipe.

[0030] The working principle and beneficial effects of the above technical solution are as follows: smoke is easily generated during welding, which not only affects the image quality obtained by the visual guidance mechanism 4, but also easily causes corrosion to the components of the visual guidance mechanism 4, shortening the service life of the visual guidance mechanism 4. Therefore, the present invention provides an automatic welding robot based on machine vision guidance, including a welding robot body 1, a welding gun 3 and a visual guidance mechanism 4. The visual guidance mechanism 4 can use a laser camera. The visual guidance mechanism 4 is used to obtain the weld image of the workpiece to be welded, and also includes an industrial computer and a PLC controller. The industrial computer is respectively connected to the PLC controller, the welding robot body 1, the welding gun 3 and the visual guidance mechanism 4 for communication. The image data obtained by the industrial computer through the visual guidance mechanism 4 can control the movement of the welding robot body 1, thereby completing welding. Guiding the welding process is a prior art. The means are not elaborated here. In order to reduce and remove the smoke generated during the welding process, a dust hood 5 is arranged outside the welding gun 3, a dust suction port is opened at the lower end of the dust hood 5, and a dust suction chamber 6 is arranged on the side wall of the dust hood 5. The dust suction chamber 6 is connected with the inside of the dust hood 5 through the dust suction hole 7. During welding, the vacuum pump 8 is started, and the smoke generated during welding enters the dust suction chamber 6 through the dust suction hole 7, and is extracted into the collecting chamber 10 of the collecting ring 9 through the vacuum pump 8, thereby reducing the smoke generated during the welding process and achieving effective removal of welding smoke, which is helpful to improve the image quality of the image acquired by the visual guidance mechanism 4, thereby enhancing the accuracy of welding, improving the welding quality and welding efficiency, and preventing the smoke from entering the visual guidance mechanism 4, thereby extending the service life of the visual guidance mechanism 4. Moreover, by removing the smoke, the working environment can be improved and the air quality in the working area can be improved.

[0031] Example 2

[0032] On the basis of the above-mentioned embodiment 1, Figure 2 , Figure 3 As shown, the collecting ring 9 is annular in structure, a connecting hole is arranged at the upper end of the collecting ring 9, and the inner wall of the connecting hole is connected to the outer wall of the dust cover 5;

[0033] The dust suction chamber 6 is annular in structure, the central axis of the dust suction chamber 6 is in the same straight line as the central axis of the dust suction cover 5, a plurality of dust suction holes 7 are provided, and the plurality of dust suction holes 7 are distributed in an annular array about the central axis of the dust suction cover 5;

[0034] An annular baffle 11 is arranged in the dust suction chamber 6, and the central axis of the annular baffle 11 is in the same straight line as the central axis of the dust suction chamber 6. The outer wall of the annular baffle 11 is connected to the inner wall of the dust suction chamber 6 away from the welding gun 3 through a plurality of connecting columns 12, and the lower end of the annular baffle 11 is connected to the bottom wall of the connecting hole. A plurality of mounting holes are arranged in the annular baffle 11, and a dustproof net 13 is arranged in the mounting hole. An annular piston plate 14 is arranged above the annular baffle 11, and the upper surface of the annular piston plate 14 is connected to the top wall of the dust suction chamber 6 through a plurality of first return springs 15. The side wall of the annular piston plate 14 is connected to the inner wall of the dust suction chamber 6 for sliding up and down. An annular sealing plate 16 is arranged on the inner side of the annular baffle 11, and the upper end of the annular sealing plate 16 is connected to the lower surface of the annular piston plate 14. The side wall of the annular sealing plate 16 is connected to the inner wall of the annular baffle 11 for sliding up and down. A connecting groove 17 is arranged on the inner wall of the dust suction chamber 6, and the connecting groove 17 is located between the annular piston plate 14 and the discharge hole.

[0035] The working principle and beneficial effects of the above technical solution are as follows: initially, the lower surface of the annular piston plate 14 contacts the upper end of the annular baffle 11, and the annular sealing plate 16 blocks the dustproof net 13, which can prevent external dust from adhering to the dustproof net 13 and clogging the dustproof net 13, thereby extending the service life of the dustproof net 13. When the vacuum pump 8 is started, the pressure in the space above the annular piston plate 14 decreases, and the annular piston plate 14 slides upward along the inner wall of the dust suction chamber 6. The first return spring 15 is compressed, and at the same time, the annular piston plate 14 drives the annular sealing plate 16 to slide upward, so that the dustproof net 13 is gradually exposed. When the annular piston plate 14 slides to the connecting groove 17, smoke and dust can enter the dust suction chamber 6 through the dust suction hole 7, and then The dust particles in the dust collection chamber 6 are sucked out through the dustproof net 13 and the connecting groove 17, and are sucked out to the outside of the dust collection chamber 6 through the vacuum pump 8. The dustproof net 13 can intercept large particles of impurities in the smoke and prevent them from entering the dust collection chamber 6, while preventing large particles of impurities from damaging the vacuum pump 8. After welding, the vacuum pump 8 stops working, and under the action of the first return spring 15 and gravity, the annular piston plate 14 slides downward, and the annular piston plate 14 drives the annular sealing plate 16 to slide downward along the outer wall of the dustproof net 13. The annular sealing plate 16 can scrape off the large particles of impurities intercepted by the outer wall of the dustproof net 13, thereby avoiding the blockage of the dustproof net 13 and extending the service life of the dustproof net 13.

[0036] Example 3

[0037] On the basis of Example 2, Figure 3 As shown, the cross section of the connecting groove 17 is in the shape of a right triangle, and the depth of the upper end of the connecting groove 17 is greater than the depth of the lower end of the connecting groove 17 .

[0038] The working principle and beneficial effects of the above technical solution are as follows: the connecting groove 17 is set to a right-angled triangle shape, and the inner wall of the connecting groove 17 is set to an inclined surface. Some small particle impurities can be intercepted in the connecting groove 17 by friction when flowing along the connecting groove 17, and flow downward along the inner wall of the connecting groove 17 to the bottom of the annular piston plate 14. A filter screen is also set at the upper end of the connecting groove 17. The filter screen has a filter hole diameter smaller than the filter hole diameter of the dustproof net 13. The filter screen can further intercept small particle impurities in the smoke and dust, thereby realizing the collection of small particle impurities.

[0039] Example 4

[0040] On the basis of Example 2 or 3, Figure 3 As shown, a plurality of collecting holes 18 are provided on the collecting ring 9, and both ends of the collecting holes 18 are respectively connected to the space on one side of the annular baffle 11 away from the dust suction hole 7 and the upper end of the collecting chamber 10.

[0041] The working principle and beneficial effects of the above technical solution are as follows: small particle impurities flowing down from the connecting groove 17 can fall into the collecting chamber 10 through the collecting hole 18, thereby completing the collection of small particle impurities. A bottom plate is detachably provided at the bottom of the collecting ring 9. The collecting chamber 10 can be cleaned by opening the bottom plate, thereby extending the service life of the collecting ring 9.

[0042] Example 5

[0043] On the basis of any one of Examples 2-4, Figure 3 As shown, a plurality of collecting holes 19 are arranged on the collecting ring 9, and the two ends of the collecting holes 19 are respectively connected with the space on one side of the annular baffle 11 close to the dust suction hole 7 and the upper end of the collecting chamber 10. A fixing rod 20 is arranged in the collecting hole 19, and the upper end of the fixing rod 20 is connected with the lower end of the annular sealing plate 16. The lower end of the fixing rod 20 extends into the collecting chamber 10 and is provided with a sealing moving block 21. The outer wall of the sealing moving block 21 is connected with the inner wall of the collecting hole 19 in an up and down sliding manner.

[0044] The working principle and beneficial effects of the above technical solution are as follows: during the upward sliding process of the annular sealing plate 16, the annular sealing plate 16 drives the sealing movable block 21 to move upward through the fixed rod 20, thereby blocking the collecting hole 21 and preventing smoke from flowing into the collecting chamber 10 from the collecting hole 21; when the annular sealing plate 16 slides downward, the annular sealing plate 16 can scrape off the large particles of impurities intercepted by the outer wall of the dustproof net 13, and the large particles of impurities scraped off by the annular sealing plate 16 fall on the sealing movable block 21 through the collecting hole 21, and flow along the inclined surface of the upper side wall of the sealing movable block 21 to the collecting chamber 10, completing the collection of large particles of impurities, and scraping off the large particles of impurities on the outer wall of the dustproof net 13 by the annular sealing plate 16, thereby extending the service life of the dustproof net 13, ensuring the smooth flow of the dustproof net 13, and enhancing the smoke removal effect.

[0045] Example 6

[0046] On the basis of any one of Examples 2-5, Figure 2 , Figure 4 As shown, a solenoid valve is provided on the collecting pipe;

[0047] A protective cover 22 is disposed outside the visual guide mechanism 4, the upper end of the protective cover 22 is connected to the fixing frame 2, and an opening is disposed at the lower end of the protective cover 22;

[0048] A cavity 23 is provided inside the protective cover 22 , and the other output end of the vacuum pump 8 is connected to the inside of the cavity 23 through a connecting pipe 24 . A plurality of air jets 25 are provided on the inner wall of the protective cover 22 , and the plurality of air jets 25 are distributed in a circular array about the central axis of the protective cover 22 .

[0049] The working principle and beneficial effects of the above technical solution are as follows: a protective cover 22 is arranged outside the visual guide mechanism 4, and the protective cover 22 can reduce the pollution of smoke and dust to the lens and other components of the visual guide mechanism 4. The solenoid valve is closed, and the smoke and dust sucked by the vacuum pump 8 can enter the cavity 23 of the protective cover 22 through the connecting pipe 24, and then be ejected through the air nozzle 25. The air nozzle 25 is inclined, and the output end of the air nozzle 25 is facing the opening direction of the protective cover 22. The airflow blown out by the air nozzle 25 reduces large and small particles of impurities, and the airflow ejected through the air nozzle 25 can blow away the smoke at the opening. Dust is filtered out, thereby preventing external smoke from entering the protective cover 22, reducing the smoke attached to the visual guide mechanism 4, improving the image quality of the visual guide mechanism 4, and facilitating the precise welding of the welding robot body 1, thereby improving the welding quality and welding efficiency, and preventing smoke from entering the visual guide mechanism 4, thereby extending the service life of the visual guide mechanism 4. In the above scheme, the filtered smoke can be reasonably utilized to achieve energy-saving effects, and the smoke at the opening of the protective cover 22 is blown away by rapid airflow, which helps to improve the image quality of the visual guide mechanism 4 and facilitates guiding the welding robot to precisely weld.

[0050] Example 7

[0051] On the basis of Example 6, Figure 2 , Figure 4 , Figure 5 As shown, a plurality of elastic baffles 26 are disposed at the lower end of the protective cover 22 . The plurality of elastic baffles 26 are distributed in a circular array about the center of the lower end of the protective cover 22 . The plurality of elastic baffles 26 are spliced ​​into a circle. One end of the elastic baffle 26 is connected to the inner wall of the protective cover 22 .

[0052] The working principle and beneficial effects of the above technical scheme are as follows: the airflow ejected from the air nozzle 25 can bend the elastic baffle 26 away from one end of the inner wall of the protective cover 22 to avoid blocking the lens of the visual guide mechanism 4. When welding is completed, the airflow from the air nozzle 25 stops ejecting, and the elastic baffle 26 returns to its original position under the action of elastic force, thereby sealing the opening of the protective cover 22 to prevent external dust from entering the interior of the protective cover 22, further improving the cleanliness of the visual guide mechanism 4, ensuring the normal operation and shooting quality of the visual guide mechanism 4, and extending the service life of the visual guide mechanism 4; in addition, when the airflow ejected from the air nozzle 25 decreases, the lens of the visual guide mechanism 4 is blocked by the elastic baffle 26. At this time, it is judged that the dustproof net 13 is seriously blocked, so the welding can be stopped, and the dustproof net 13 can be cleaned in time to ensure the smoke removal effect and the shooting quality of the visual guide mechanism 4.

[0053] Example 8

[0054] On the basis of Example 7, Figure 2 , Figure 4 , Figure 5 As shown, a fixing plate 27 is arranged inside the protective cover 22, and the outer periphery of the fixing plate 27 is fixedly connected to the inner wall of the protective cover 22, a through hole is arranged in the center of the fixing plate 27, a first cylinder 28 is arranged on the lower surface of the fixing plate 27, the upper end of the first cylinder 28 is connected to the lower surface of the fixing plate 27, the central axis of the first cylinder 28 is in the same straight line as the central axis of the fixing plate 27, a second cylinder 29 is sleeved on the outside of the first cylinder 28, the inner wall of the second cylinder 29 is connected to the outer wall of the first cylinder 28 for vertical sliding connection, a sliding plate 30 is arranged at the lower end of the second cylinder 29, the outer wall of the sliding plate 30 is connected to the inner wall of the protective cover 22 for vertical sliding connection, a positioning plate 31 is arranged below the sliding plate 30, the outer wall of the positioning plate 31 is connected to the inner wall of the protective cover 22, the positioning plate 31 is connected to the sliding plate 30 by a plurality of second return springs 32, and a second return spring 33 is arranged at the center of the positioning plate 31. A sliding hole is arranged, an observation hole is arranged at the center of the sliding plate 30, an observation tube 33 is arranged at the observation hole, the lower end of the observation tube 33 passes through the sliding hole and extends to the bottom of the positioning plate 31, the outer wall of the observation tube 33 is slidably connected with the inner wall of the sliding hole up and down, a plurality of air outlet holes 34 are arranged in the sliding plate 30, and the plurality of air outlet holes 34 are distributed in a circular array about the central axis of the observation tube 33, a plurality of air outlet pipes 35 are arranged in the positioning plate 31, the air outlet pipes 35 correspond to the air outlet holes 34 one by one, the upper ends of the air outlet pipes 35 extend into the air outlet holes 34, the lower ends of the air outlet pipes 35 pass through the positioning plate 31 and extend to above the elastic baffle 26, a blocking plate 36 is arranged at the upper end of the air outlet hole 34, the blocking plate 36 is hingedly connected to the upper surface of the sliding plate 30 at one end close to the second cylinder 29, and the blocking plate 36 is connected to the outer wall of the second cylinder 29 through a third reset spring 37.

[0055] The working principle and beneficial effects of the above technical solution are as follows: the airflow ejected from the air outlet 25 first enters between the fixed plate 27 and the sliding plate 30, and then pushes the sliding plate 30 to slide downward, the second return spring 32 is compressed, and the air outlet pipe 35 slides in the air outlet hole 34. At the same time, the sliding plate 30 drives the observation tube 33 to move downward, and the observation tube 33 pushes the elastic baffle 26 downward to prevent the elastic baffle 26 from blocking the lens of the visual guide mechanism 4. Then the air outlet pipe 35 contacts the blocking plate 36 and pushes the blocking plate 36 to rotate. The third return spring 37 is compressed, and the air outlet pipe 35 is connected to the space above the sliding plate 30. The airflow between the fixed plate 27 and the sliding plate 30 flows out through the air outlet pipe 35 and quickly flows to the elastic baffle 26. The baffle 26 and the air outlet pipe 35 correspond to the elastic baffle 26 one by one. The elastic baffle 26 is further bent by the rapid airflow, and the airflow can flow out through the gap between the elastic baffle 26 and the observation tube 33 to blow away the smoke and dust at the opening of the protective cover 22, further improving the image quality of the visual guide mechanism 4. By setting the air outlet pipe 35, the flow rate of the airflow can be increased. When the welding is completed, under the action of the second return spring 32, the sliding plate 30 slides upward and returns to its original position, the observation tube 33 moves back into the protective cover 22, and the elastic baffle 26 returns to its original position. Under the action of the third return spring 37, the sealing plate 36 returns to its original position and re-seals the upper end of the air outlet 34 for the next use.

[0056] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An automatic welding robot based on machine vision guidance, characterized in that: include: A welding robot body (1) is provided, a fixing frame (2) is provided on the welding robot body (1), a welding gun (3) and a visual guide mechanism (4) are provided on the fixing frame (2), a dust hood (5) is provided outside the welding gun (3), a dust suction chamber (6) is provided inside the dust hood (5), a dust suction hole (7) is provided on the inner wall of the dust hood (5), the lower end of the dust suction chamber (6) is connected with the inside of the dust hood (5) through the dust suction hole (7), an air pump (8) is provided outside the dust hood (5), an input end of the air pump (8) is connected with the inside of the dust suction chamber (6) through a discharge hole, the discharge hole is provided on the outer wall of the dust hood (5), a collecting ring (9) is provided at the bottom of the dust hood (5), a collecting chamber (10) is provided inside the collecting ring (9), and an output end of the air pump (8) is connected with the inside of the collecting chamber (10) through a collecting pipe.

2. The automatic welding robot based on machine vision guidance according to claim 1, characterized in that: The collecting ring (9) is annular in structure. A connecting hole is arranged at the upper end of the collecting ring (9). The inner wall of the connecting hole is connected to the outer wall of the dust collecting hood (5).

3. The automatic welding robot based on machine vision guidance according to claim 2 is characterized in that: The dust suction chamber (6) is annular in structure, the central axis of the dust suction chamber (6) is in the same straight line as the central axis of the dust suction cover (5), a plurality of dust suction holes (7) are provided, and the plurality of dust suction holes (7) are distributed in an annular array about the central axis of the dust suction cover (5).

4. The automatic welding robot based on machine vision guidance according to claim 3 is characterized in that: An annular baffle (11) is arranged in the dust suction chamber (6), the central axis of the annular baffle (11) is in the same straight line as the central axis of the dust suction chamber (6), the outer wall of the annular baffle (11) is connected to the inner wall of the dust suction chamber (6) away from the welding gun (3) through a plurality of connecting columns (12), the lower end of the annular baffle (11) is connected to the bottom wall of the connecting hole, a plurality of mounting holes are arranged in the annular baffle (11), a dustproof net (13) is arranged in the mounting hole, an annular piston plate (14) is arranged above the annular baffle (11), and the upper surface of the annular piston plate (14) is The dust collecting chamber (6) is connected to the top wall via a plurality of first return springs (15); the side wall of the annular piston plate (14) is connected to the inner wall of the dust collecting chamber (6) in an up-and-down sliding manner; an annular sealing plate (16) is arranged inside the annular baffle (11); the upper end of the annular sealing plate (16) is connected to the lower surface of the annular piston plate (14); the side wall of the annular sealing plate (16) is connected to the inner wall of the annular baffle (11) in an up-and-down sliding manner; a connecting groove (17) is arranged on the inner wall of the dust collecting chamber (6); and the connecting groove (17) is located between the annular piston plate (14) and the discharge hole.

5. The automatic welding robot based on machine vision guidance according to claim 4 is characterized in that: The cross section of the connecting groove (17) is in the shape of a right triangle, and the depth of the upper end of the connecting groove (17) is greater than the depth of the lower end of the connecting groove (17).

6. The automatic welding robot based on machine vision guidance according to claim 4, characterized in that: A plurality of collecting holes (18) are arranged on the collecting ring (9), and the two ends of the collecting holes (18) are respectively connected to the space on one side of the annular baffle (11) away from the dust suction hole (7) and the upper end of the collecting chamber (10).

7. The automatic welding robot based on machine vision guidance according to claim 4, characterized in that: A plurality of collecting holes (19) are arranged on the collecting ring (9), and the two ends of the collecting holes (19) are respectively connected to the space on one side of the annular baffle (11) close to the dust suction hole (7) and the upper end of the collecting chamber (10). A fixing rod (20) is arranged in the collecting hole (19), and the upper end of the fixing rod (20) is connected to the lower end of the annular sealing plate (16). The lower end of the fixing rod (20) extends into the collecting chamber (10) and is provided with a sealing moving block (21). The outer wall of the sealing moving block (21) is slidably connected to the inner wall of the collecting hole (19) in an up-and-down manner.

8. The automatic welding robot based on machine vision guidance according to claim 4, characterized in that: A solenoid valve is provided on the collecting tube.

9. The automatic welding robot based on machine vision guidance according to claim 8, characterized in that: A protective cover (22) is arranged outside the visual guide mechanism (4); the upper end of the protective cover (22) is connected to the fixing frame (2); and the lower end of the protective cover (22) is arranged with an opening.

10. The automatic welding robot based on machine vision guidance according to claim 9, characterized in that: A cavity (23) is arranged inside the protective cover (22); the other output end of the air pump (8) is connected to the inside of the cavity (23) through a connecting pipe (24); a plurality of air jets (25) are arranged on the inner wall of the protective cover (22); and the plurality of air jets (25) are distributed in a ring array about the central axis of the protective cover (22).

Images