Multi-foot wall-climbing welding robot based on monocular vision and binocular vision

Abstract

The invention relates to the technical field of ship manufacturing, in particular to a multi-foot wall-climbing welding robot based on monocular and binocular vision, which comprises a welding mechanism and a movement mechanism, the welding mechanism comprises a mechanical arm, a welding gun, an anti-splashing baffle plate, a monocular camera and a binocular camera, and the welding gun, the anti-splashing baffle plate, the monocular camera and the binocular camera are all located at the tail end of the mechanical arm; the anti-splashing baffle is arranged between the monocular camera and the welding gun, and the binocular camera is arranged on one side of the monocular camera and is far away from the anti-splashing baffle; the movement mechanism comprises a chassis, six groups of movement arms and electromagnetic chucks, the six groups of movement arms are uniformly distributed around the chassis, and the tail end of each group of movement arms is connected with one electromagnetic chuck through a revolute pair. Through attraction and release of the electromagnetic chuck, the welding robot can be stably attracted and flexibly moved on different surfaces, the monocular camera and the binocular camera collect to-be-recognized workpiece images and weld joint images, through interactive control with the upper computer, the mechanical arm controls the welding gun to achieve autonomous welding operation, and the defects of manual welding are overcome.

Description

Technical Field

[0001] The invention relates to the technical field of shipbuilding, and in particular to a multi-legged wall-climbing welding robot based on monocular and binocular vision. Background Art

[0002] In shipbuilding, welding is mainly done by manual welding, which is inefficient, labor-intensive, and prone to quality problems. In addition, during the welding process, there are often a lot of situations where welding needs to be performed at high altitudes or in areas that are difficult to reach. Traditional manual welding at high altitudes or in areas that are difficult to reach poses certain safety hazards. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-legged wall-climbing welding robot based on monocular and binocular vision, aiming to solve the welding quality problem caused by high labor intensity of manual welding in shipbuilding, and reduce the risk of high-altitude welding.

[0004] To achieve the above-mentioned object, the present invention provides a multi-legged wall-climbing welding robot based on monocular and binocular vision, comprising a welding mechanism and a motion mechanism, wherein the welding mechanism is arranged above the motion mechanism; the welding structure comprises a mechanical arm, a welding gun, an anti-splash baffle, a monocular camera and a binocular camera, wherein the welding gun, the anti-splash baffle, the monocular camera and the binocular camera are all located at the end of the mechanical arm, the anti-splash baffle is arranged between the monocular camera and the welding gun, and the binocular camera is arranged on one side of the monocular camera and away from the anti-splash baffle;

[0005] The motion mechanism comprises a chassis, motion arms and an electromagnetic suction cup. Six groups of motion arms are evenly distributed around the chassis, and the end of each group of motion arms is fixedly connected to an electromagnetic suction cup.

[0006] Wherein, each group of the moving arms is respectively provided with three steering gears.

[0007] Among them, the multi-legged wall-climbing welding robot based on monocular and binocular vision also includes a controller, which is respectively built in the welding mechanism and the motion mechanism, and is connected to the host computer through wireless signals.

[0008] The present invention provides a multi-legged wall-climbing welding robot based on monocular and binocular vision, including a welding mechanism and a motion mechanism, wherein the welding structure includes a mechanical arm, a welding gun, an anti-splash baffle, a monocular camera and a binocular camera, wherein the welding gun, the anti-splash baffle, the monocular camera and the binocular camera are all located at the end of the mechanical arm, the anti-splash baffle is arranged between the monocular camera and the welding gun, and the binocular camera is arranged on one side of the monocular camera and away from the anti-splash baffle; the motion mechanism includes a chassis, a motion arm and an electromagnetic suction cup, and six groups of motion arms are evenly distributed around the chassis, and the end of each group of motion arms is connected to an electromagnetic suction cup through a revolving pair. Through the attraction and release of the electromagnetic suction cup, the welding robot can stably adsorb and flexibly move on different surfaces, the monocular camera and the binocular camera are used to collect the workpiece image and the weld image to be identified, and through interactive control with the host computer, the mechanical arm controls the tracking, correction and compensation movement of the welding gun to the weld position to realize autonomous welding operation. The present invention integrates robot autonomous welding and multi-legged wall climbing. The robot autonomous welding avoids the shortcomings of manual welding, and the multi-legged wall climbing can reduce the risk of manual high-altitude operations and reduce production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 It is a structural schematic diagram of a multi-legged wall-climbing welding robot based on monocular and binocular vision of the present invention.

[0011] Figure 2 It is a structural schematic diagram of the welding mechanism of the present invention.

[0012] Figure 3 It is a structural schematic diagram of the motion mechanism of the present invention.

[0013] Figure 4 It is a structural schematic diagram of the motion arm of the present invention.

[0014] Figure 5 It is a schematic diagram of the positional relationship of the anti-splash baffle, the monocular camera and the binocular camera of the present invention.

[0015] 1-Robotic arm, 2-Welding gun, 3-Anti-splash baffle, 4-Monocular camera, 5-Binocular camera, 6-Chassis, 7-Motion arm, 8-Electromagnetic suction cup, 9-Servo. DETAILED DESCRIPTION

[0016] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0017] See also Figures 1 to 5 The present invention provides a multi-legged wall-climbing welding robot based on monocular and binocular vision, comprising a welding mechanism and a motion mechanism, wherein the welding mechanism is arranged above the motion mechanism; the welding structure comprises a mechanical arm 1, a welding gun 2, an anti-splash baffle 3, a monocular camera 4 and a binocular camera 5, wherein the welding gun 2, the anti-splash baffle 3, the monocular camera 4 and the binocular camera 5 are all located at the end of the mechanical arm 1, the anti-splash baffle 3 is arranged between the monocular camera 4 and the welding gun 2, and the binocular camera 5 is arranged on one side of the monocular camera 4 and away from the anti-splash baffle 3;

[0018] The motion mechanism comprises a chassis 6, motion arms 7 and an electromagnetic suction cup 8. Six groups of motion arms 7 are evenly distributed around the chassis 6. The end of each group of motion arms 7 is connected to an electromagnetic suction cup 8 through a revolving pair.

[0019] Each group of the moving arms 7 is respectively provided with three steering gears 9 .

[0020] The multi-legged wall-climbing welding robot based on monocular and binocular vision also includes a controller, which is respectively built in the welding mechanism and the motion mechanism and is connected to the host computer through wireless signals.

[0021] In this embodiment, the monocular camera 4 is arranged on one side of the welding gun 2, the anti-splash baffle 3 is arranged between the monocular camera 4 and the welding gun 2, and the binocular camera 5 is arranged on the other side of the monocular camera 4. The monocular camera 4 and the binocular camera 5 are used to collect the workpiece image and the weld image to be identified, and then transmit them to the host computer for image analysis and processing, wherein the binocular camera 5 is used to collect three-dimensional information, so as to identify the spatial coordinates of the workpiece; the monocular camera 4 is used to collect two-dimensional plane information, so as to identify the weld position information.

[0022] Furthermore, considering the influence of laser on camera image acquisition, an anti-splash baffle 3 is arranged between the monocular camera 4 and the welding gun 2 to shield the spatter generated during the welding process.

[0023] The host computer receives the image information transmitted by the camera through the serial port, analyzes it to obtain the workpiece coordinate information and the weld position information, analyzes and processes the workpiece coordinate information and the weld position information, plans the motion trajectory of the welding gun 2, and then sends the obtained motion trajectory planning result to the robot controller. The robot controller analyzes the received motion trajectory planning result to obtain the corresponding control command, realizes the control of the motion axis actuator, and controls the tracking, correction and compensation movement of the welding gun to the weld position, thereby realizing the autonomous welding operation of the welding robot.

[0024] In addition, the six groups of moving arms 7 of the movement mechanism are similar to six independent legs, each leg can freely adjust the angle through its three steering gears 9, and an electromagnetic suction cup 8 is installed at the end of the leg.

[0025] After the host computer identifies the weld features through image processing technology, it transmits the data to the motion mechanism in real time through wireless communication. The motion mechanism uses this data, combined with sensor fusion and control algorithms, to send PWM signals to each servo 9 of the motion mechanism to control the angle of each servo 9, thereby adjusting the position and posture of the foot, and then the motion mechanism can achieve forward, backward, steering and other motion modes by adjusting the joint angle to accurately follow the weld.

[0026] Furthermore, there is a coil inside the electromagnetic suction cup 8. When direct current is passed through, the coil generates a magnetic field. This magnetic field interacts with the iron core inside the suction cup to generate a strong magnetic force, which can provide a strong adsorption force for the legs. It is not limited by surface bumps or cracks, nor is it affected by the surface state of the object (roughness, humidity, temperature). Through programming, the electromagnetic suction cup 8 can be set to attract and release at a specific time to achieve automatic control, thereby allowing the welding robot to stably adsorb and flexibly move on different surfaces.

[0027] The multi-legged wall-climbing welding robot based on single and binocular vision of the present invention integrates robot autonomous welding and multi-legged wall-climbing. The robot autonomous welding avoids the shortcomings of manual welding. The multi-legged wall-climbing can reduce the risk of manual high-altitude operations and reduce production costs. The welding efficiency and quality improvement and intelligent operation development in the field of shipbuilding are promoted in two aspects.

[0028] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A multi-legged wall-climbing welding robot based on monocular and binocular vision, characterized in that: The invention comprises a welding mechanism and a moving mechanism, wherein the welding mechanism is arranged above the moving mechanism; the welding structure comprises a mechanical arm, a welding gun, an anti-splash baffle, a monocular camera and a binocular camera, wherein the welding gun, the anti-splash baffle, the monocular camera and the binocular camera are all located at the end of the mechanical arm, the anti-splash baffle is arranged between the monocular camera and the welding gun, and the binocular camera is arranged on one side of the monocular camera and away from the anti-splash baffle; The motion mechanism comprises a chassis, motion arms and an electromagnetic suction cup. Six groups of motion arms are evenly distributed around the chassis, and the end of each group of motion arms is connected to an electromagnetic suction cup through a rotating pair.

2. The multi-legged wall-climbing welding robot based on monocular and binocular vision as claimed in claim 1 is characterized in that: The robotic arm is a six-axis robotic arm, and the lower end of the robotic arm is fixedly connected to the chassis.

3. The multi-legged wall-climbing welding robot based on monocular and binocular vision as claimed in claim 2 is characterized in that: Each group of the moving arms is respectively provided with three steering gears.

4. The multi-legged wall-climbing welding robot based on monocular and binocular vision as claimed in claim 3 is characterized in that: The multi-legged wall-climbing welding robot based on monocular and binocular vision also includes a controller, which is respectively built in the welding mechanism and the motion mechanism and is connected to the host computer through wireless signals.

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