Automatic welding robot capable of recognizing welding track

Abstract

The automatic welding robot capable of recognizing the welding track comprises a base, a machine table and a welding robot body, the machine table is installed on the base, the welding robot body is installed on the top of the machine table and comprises a large arm, a small arm and a welding mechanism, a driver is connected between the large arm and the small arm, and the welding mechanism is installed at the front end of the small arm. The invention is equipped with a welding track identification system. The welding accuracy can be improved, manual operation errors can be reduced, and the production efficiency is improved; the polishing mechanism is arranged in the welding mechanism and comprises a motor, a probe and a polishing cylinder, polishing and surface treatment of weld joints before welding and after welding can be effectively carried out, and the smoothness and appearance quality of welded joints are improved. According to the polishing mechanism, the robot can conduct welding and can conduct post-treatment to a certain degree, the requirement for manual polishing is reduced, the polishing mechanism can further conduct pre-recognition on the welding track in the polishing process, and the welding precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, in particular to an automatic welding robot capable of identifying welding tracks. Background Art

[0002] A welding robot, as the name implies, is a robot responsible for welding work. It is a type of industrial robot. An industrial robot usually includes a freely rotating robotic arm with multiple freely programmable axes on the robotic arm. A welding robot refers to an industrial robot whose terminal axis is a welding gun. In order to ensure that the robot can track the weld trajectory, an arc sensor needs to be installed on the robot. By detecting the height and left and right deviations of the welding torch, it serves as the input signal of the gas shielded welding weld automatic tracking system, thereby achieving the purpose of automatic tracking of the weld by the welding robot. When welding tube sheets or complex and difficult-to-weld workpieces with intersecting lines, the welding robot, in addition to the conventional robotic arm for welding, also needs to be equipped with a positioner for fixing the workpiece.

[0003] When performing complex welding tasks, existing welding robots often rely on preset programs or external manually input trajectories, which may lead to insufficient accuracy of trajectory recognition, especially on complex welding paths and difficult workpieces. The deviation between the welding trajectory and the predetermined trajectory is large, which may lead to inconsistent welding quality. In addition, the welding point needs to be pretreated before welding, and the welding efficiency is poor. Therefore, an automatic welding robot that can identify welding trajectories is proposed. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the shortcomings of the prior art, the present invention provides an automatic welding robot that can identify welding trajectories, which solves the problem that existing welding robots often rely on preset programs or external manually input trajectories when performing complex welding tasks, which may lead to insufficient accuracy of trajectory recognition, especially on complex welding paths and difficult workpieces. The welding trajectory deviates greatly from the predetermined trajectory, which may lead to inconsistent welding quality, and the welding point needs to be pre-treated before welding, resulting in poor welding efficiency.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic welding robot capable of identifying welding tracks, comprising a base, a machine platform and a welding robot, wherein the machine platform is mounted on the base, the welding robot is mounted on the top of the machine platform and the welding robot comprises an upper arm, a lower arm and a welding mechanism, a driver is connected between the upper arm and the lower arm, and the welding mechanism is mounted at the front end of the lower arm;

[0008] The welding mechanism includes an adjustment box, a T-shaped frame, a welding gun and a grinding mechanism. Fixed seats are respectively arranged on both sides of the top of the T-shaped frame. The welding gun is installed on one of the fixed seats, and the grinding mechanism is installed on the other fixed seat. The grinding mechanism includes a probe and a motor. The motor is installed on the back of the fixed seat and the power output end is connected to the end of the probe. A grinding cylinder is installed on the surface of the probe. A riser is vertically installed at the lower end of the T-shaped frame. An adjustment disk is installed at the lower end of the riser. The adjustment disk is connected to the adjustment box. The rear end of the adjustment box is fixedly connected to the front end of the forearm. A dust removal fan is installed inside the adjustment box.

[0009] A control box is installed on one side of the top surface of the base, and a welding track recognition system and a welding robot control system are arranged inside the control box.

[0010] As a further preferred embodiment of the present invention, an air guide column is vertically installed on one side of the top of the regulating box, the lower end of the air guide column extends into the regulating box and is connected to the port of the dust removal fan, a telescopic hose is installed on the upper end of the side wall of the air guide column, an air guide ring is fixedly installed on the end of the telescopic hose, the air guide ring is sleeved on the vertical pipe and rotatably connected to the column, a through hole is opened on the surface of the vertical pipe and the through hole is located on the inner side of the air guide ring.

[0011] As a further preferred embodiment of the present invention, an air guide box is installed on the top surface of the T-shaped frame and between the two fixed seats, the side wall of the air guide box is provided with a socket and a dust storage box is embedded in the socket, the front end of the air guide box is connected to the side wall of the fixed seat, the interior of the air guide box is provided with an air guide hole and the air guide hole is connected to the inside of the vertical pipe.

[0012] As a further preferred embodiment of the present invention, air inlet holes are respectively provided on both sides and the front end of the fixing seat, and the air inlet holes are connected to the air guide box.

[0013] As a further preferred embodiment of the present invention, an air inlet is arranged at one end of the dust storage box, a filter is arranged at the other end of the dust storage box, and a handle is installed at the middle of the outer wall of the dust storage box.

[0014] As a further preferred embodiment of the present invention, two groups of closed diaphragms are symmetrically arranged inside the air inlet, the closed diaphragms are made of rubber material and have magnetic suction plates installed on the ends, and the two symmetrically arranged closed diaphragms are connected by a magnetic suction plate.

[0015] As a further preferred embodiment of the present invention, the welding trajectory recognition system includes a welding power supply, a sensor component, a signal acquisition card, a filter, an amplifying circuit, and a digital-to-analog conversion circuit.

[0016] (III) Beneficial effects

[0017] The present invention provides an automatic welding robot capable of identifying welding tracks, which has the following beneficial effects:

[0018] The present invention is equipped with a welding trajectory recognition system, which can monitor the accuracy of the welding path in real time and ensure the stability of the welding quality during the welding process. This can not only improve the accuracy of welding, but also reduce human operation errors and improve production efficiency; the welding mechanism is equipped with a grinding mechanism, including a motor, a probe and a grinding cylinder, which can effectively perform welding seams before welding and after welding. Polishing and surface treatment, improve the smoothness and appearance quality of the welded joint. This grinding mechanism enables the robot not only to weld, but also to perform a certain degree of post-processing, reducing the need for manual grinding. The grinding mechanism can also pre-identify the welding trajectory during the grinding process to improve welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of the automatic welding robot capable of identifying welding tracks according to the present invention;

[0020] Figure 2 The figure is an external structural diagram of the welding mechanism of the present invention;

[0021] Figure 3 This is a diagram showing the internal structure of the T-shaped frame of the present invention;

[0022] Figure 4 for Figure 3 A magnified view of middle;

[0023] Figure 5 This is a flow chart of the automatic welding robot capable of identifying welding trajectories according to the present invention.

[0024] In the figure: 1. base; 2. machine table; 3. control box; 4. upper arm; 5. driver; 6. lower arm; 7. welding mechanism; 8. probe; 9. grinding cylinder; 10. fixing seat; 11. air inlet; 12. motor; 13. dust storage box; 14. vertical pipe; 15. air guide box; 16. T-shaped frame; 17. welding gun; 18. adjustment box; 19. air guide column; 20. telescopic hose; 21. air guide ring; 22. adjustment plate; 23. filter; 24. air guide hole; 25. air inlet; 26. closed diaphragm. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0026] See also Figure 1-5 , the embodiment of the present invention provides a technical solution: an automatic welding robot capable of identifying welding tracks, comprising a base 1, a machine platform 2 and a welding robot, the machine platform 2 is mounted on the base 1, the welding robot is mounted on the top of the machine platform 2 and the welding robot comprises an arm 4, a forearm 6 and a welding mechanism 7, a driver 5 is connected between the arm 4 and the forearm 6, the welding mechanism 7 is mounted on the front end of the forearm 6, the basic composition of the welding robot;

[0027] The welding mechanism 7 includes an adjustment box 18, a T-shaped frame 16, a welding gun 17 and a grinding mechanism. Fixed seats 10 are respectively arranged on both sides of the top of the T-shaped frame 16. The welding gun 17 is installed on one of the fixed seats 10, and the grinding mechanism is installed on the other fixed seat 10. The grinding mechanism includes a probe 8 and a motor 12. The motor 12 drives the probe 8 to rotate. The motor 12 is installed on the back of the fixed seat 10 and the power output end is connected to the end of the probe 8. A grinding cylinder 9 is installed on the surface of the probe 8. The grinding cylinder 9 grinds the welding gap and can also clean the welding slag after welding. A riser 14 is vertically installed at the lower end of the T-shaped frame 16. An adjustment disk 22 is installed at the lower end of the riser 14. The adjustment disk 22 is connected to the adjustment box 18. The rear end of the adjustment box 18 is fixedly connected to the front end of the small arm 6. A dust removal fan is installed inside the adjustment box 18, and the dust removal fan provides dust removal power.

[0028] A control box 3 is installed on one side of the top surface of the base 1 , and a welding track recognition system and a welding robot control system are arranged inside the control box 3 .

[0029] As a further improvement, an air guide column 19 is vertically installed on one side of the top of the regulating box 18, and the lower end of the air guide column 19 extends into the regulating box 18 and is connected to the port of the dust removal fan. A telescopic hose 20 is installed on the upper end of the side wall of the air guide column 19 to meet the rotation requirement of the T-shaped frame 16. An air guide ring 21 is fixedly installed on the end of the telescopic hose 20. The air guide ring 21 is sleeved on the vertical pipe 14 and is rotatably connected to the column. A through hole is opened on the surface of the vertical pipe 14 and the through hole is located on the inner side of the air guide ring 21, which has the effect of guiding air.

[0030] As a further improvement, an air guide box 15 is installed on the top surface of the T-shaped frame 16 and between the two fixed seats 10. The side wall of the air guide box 15 is provided with a socket and a dust storage box 13 is embedded in the socket. The front end of the air guide box 15 is connected to the side wall of the fixed seat 10. The interior of the air guide box 15 is provided with an air guide hole 24 and the air guide hole 24 is connected to the interior of the vertical pipe 14. The dust storage box 13 filters the incoming air and leaves the debris in the dust storage box 13 after filtering.

[0031] As a further improvement, air inlet holes 11 are respectively provided on both sides and the front end of the fixing base 10, and the air inlet holes 11 are connected to the air guide box 15. An air inlet 25 is provided at one end of the dust storage box 13, and a filter screen 23 is provided at the other end of the dust storage box 13. A handle is installed in the middle of the outer wall of the dust storage box 13 to facilitate the removal and cleaning of the dust storage box 13.

[0032] As a further improvement, two groups of closed diaphragms 26 are symmetrically arranged inside the air inlet 25. The closed diaphragms 26 are made of rubber material and have magnetic plates installed on the ends. The two symmetrically arranged closed diaphragms 26 are connected by a magnetic plate. After the dust removal fan is turned off, the two closed diaphragms 26 are connected.

[0033] In a further improvement, the welding trajectory recognition system includes a welding power supply, a sensor component, a signal acquisition card, a filter, an amplifying circuit, and a digital-to-analog conversion circuit.

[0034] Arc tracking steps:

[0035] Step 1: Collect the electrical signal of the welding arc

[0036] Signal acquisition: The arc voltage and current signals are collected in real time through the welding power supply (DC welding machine or AC welding machine) and sensor components (voltage sensor, current sensor, contact sensor, etc.). The arc voltage is closely related to factors such as arc length and arc temperature, while the current signal is related to the welding current and the heat distribution of the welding arc.

[0037] Signal transmission: The collected arc voltage and arc current signals are transmitted to the signal processing unit through the data acquisition card.

[0038] Step 2: Process the collected electrical signals

[0039] Signal filtering: Arc signals may be affected by noise, so the collected signals need to be filtered. Common filtering methods include low-pass filters, high-pass filters or band-pass filters to remove high-frequency noise or low-frequency drift.

[0040] Signal amplification: If the signal is weak, it can be amplified by an amplifier circuit to ensure that the signal can be accurately analyzed in the subsequent processing stage.

[0041] Analog-to-digital conversion (ADC): Converts the analog arc voltage and current signals into digital signals for subsequent digital signal processing and analysis. The accuracy of analog-to-digital conversion is critical to the accuracy of the entire system.

[0042] Feature extraction: Through digital signal processing methods such as Fourier transform, time domain analysis, wavelet transform, etc., characteristic parameters related to weld position and welding quality (such as voltage fluctuation amplitude, current waveform, spectrum analysis, etc.) are extracted from the arc signal.

[0043] Step 3: Calculate the deviation of the weld

[0044] Characteristic parameter analysis: The extracted characteristic parameters are used to analyze the changing trend of the arc and identify the deviation between the arc and the weld center. For example, the fluctuation range of the arc voltage may reflect the degree of arc deviation.

[0045] Algorithm application: Neural network algorithm, fuzzy logic algorithm, least squares method, etc. are used to calculate the deviation between the arc and the weld. Neural network can self-learn based on historical data and extract nonlinear features; fuzzy logic can handle the ambiguity and uncertainty of arc signals.

[0046] Deviation calculation: Based on the extracted characteristic parameters and welding process requirements, the deviation of the weld (such as lateral deviation, longitudinal deviation, etc.) is calculated and a judgment is made to determine whether correction is required.

[0047] Step 4: Feedback the deviation and adjust the motion trajectory of the welding robot

[0048] Deviation feedback: The calculated deviation is fed back to the control system of the welding robot. The control system can be a computer numerical control (CNC)-based control system or a real-time feedback system based on an industrial robot control platform.

[0049] Motion trajectory adjustment: The control system uses PID control algorithm, fuzzy control algorithm, or other optimization algorithms (such as adaptive control, predictive control, etc.) to adjust the motion trajectory of the welding robot in real time based on the deviation. PID control can reduce the deviation by continuously adjusting motion parameters (such as speed and acceleration); fuzzy control can handle complex and ambiguous situations, such as small fluctuations in the arc position.

[0050] Real-time weld seam tracking: Based on the feedback adjustment information, the welding robot will correct the motion trajectory in real time to achieve accurate tracking of the weld seam. The adjustment of the robot's motion trajectory may include longitudinal or lateral offsets, or even the movement of the welding arc to ensure the quality of the weld seam.

[0051] Step 5: Real-time monitoring and quality control

[0052] Welding quality detection: Real-time monitoring of weld quality is achieved by combining arc signals with image processing technology (such as cameras or laser scanning systems). Image processing can detect the width, depth, shape and other characteristics of the weld to assess weld quality.

[0053] Real-time feedback mechanism: Establish a feedback mechanism to continuously monitor arc signals, robot motion trajectory, welding quality, etc. during the welding process to ensure that the welding process always remains within the set process parameters. If quality problems are detected, the system can adjust the welding parameters in time to avoid unqualified welds.

[0054] Step 6: Learning and Optimization

[0055] Data collection and analysis: As the welding process continues, the system can continuously collect welding data (arc voltage, current, robot motion trajectory, weld seam image, etc.) and use machine learning methods to optimize the arc tracking algorithm. Deep learning or reinforcement learning can help improve the adaptability and robustness of the system.

[0056] Process optimization: Through data analysis, identify the impact of different process parameters on welding quality and optimize the welding process.

[0057] Working principle: The workpieces to be welded are clamped and fixed to form a gap to be welded between the workpieces, and the grinding tube 9 is inserted into the gap for grinding. While grinding, the welding trajectory is pre-identified by the probe 8. After identification, the identification information is recorded in the welding trajectory identification system, and the welding gun 17 is driven to weld the workpiece. During the welding process, the electrical signal of the welding arc is collected, the electrical signal is processed and compared with the pre-identified signal, the deviation of the weld is calculated, the deviation is fed back and the motion trajectory of the welding robot is adjusted, and the welding slag is processed after the welding is completed.

[0058] The components of the present invention are 1, base; 2, machine platform; 3, control box; 4, big arm; 5, driver; 6, small arm; 7, welding mechanism; 8, probe; 9, grinding cylinder; 10, fixed seat; 11, air inlet; 12, motor; 13, dust storage box; 14, vertical pipe; 15, air guide box; 16, T-shaped frame; 17, welding gun; 18, adjustment box; 19, air guide column; 20, telescopic hose; 21, air guide ring; 22, adjustment plate; 23, filter screen; 24, air guide hole; 25, air inlet; 26, closed diaphragm, all of which are universal standard parts or parts known to those skilled in the art, and their structures and principles can be understood by those skilled in the art through technical means. It is known from the book or through conventional experimental methods that the problem solved by the present invention is that when the existing welding robot performs complex welding tasks, it often relies on the preset program or the external manually input track, which may lead to insufficient accuracy of track recognition, especially on complex welding paths and difficult workpieces. The deviation between the welding track and the predetermined track is large, which may lead to inconsistent welding quality, and the welding point needs to be pre-processed before welding, and the welding efficiency is poor. The present invention is equipped with a welding track recognition system through the mutual combination of the above components, which can monitor the accuracy of the welding path in real time and ensure the stability of the welding quality during the welding process. This can not only improve the accuracy of welding, but also reduce human operation errors and improve production efficiency; the welding mechanism 7 is equipped with a grinding mechanism, including a motor 12, a probe 8 and a grinding cylinder 9, which can effectively perform grinding and surface treatment of the weld before welding and after welding, and improve the smoothness and appearance quality of the welded joint. This grinding mechanism enables the robot not only to weld, but also to perform a certain degree of post-processing, reducing the need for manual grinding. The grinding mechanism can also pre-identify the welding track during the grinding process to improve the welding accuracy.

[0059] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0060] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An automatic welding robot capable of identifying welding tracks, comprising a base (1), a machine platform (2) and a welding robot, characterized in that: The machine platform (2) is mounted on a base (1), the welding robot is mounted on the top of the machine platform (2), and the welding robot comprises an upper arm (4), a lower arm (6), and a welding mechanism (7), a driver (5) is connected between the upper arm (4) and the lower arm (6), and the welding mechanism (7) is mounted at the front end of the lower arm (6); The welding mechanism (7) comprises an adjustment box (18), a T-shaped frame (16), a welding gun (17) and a grinding mechanism. Fixed seats (10) are respectively arranged on both sides of the top of the T-shaped frame (16). The welding gun (17) is installed on one of the fixed seats (10). The grinding mechanism is installed on the other fixed seat (10). The grinding mechanism comprises a probe (8) and a motor (12). The motor (12) is installed on the back of the fixed seat (10) and the power output end is connected to the end of the probe (8). A grinding cylinder (9) is installed on the surface of the probe (8). A vertical pipe (14) is vertically installed at the lower end of the T-shaped frame (16). An adjustment disk (22) is installed at the lower end of the vertical pipe (14). The adjustment disk (22) is connected to the adjustment box (18). The rear end of the adjustment box (18) is fixedly connected to the front end of the small arm (6). A dust removal fan is installed inside the adjustment box (18). A control box (3) is installed on one side of the top surface of the base (1), and a welding track recognition system and a welding robot control system are arranged inside the control box (3).

2. The automatic welding robot capable of identifying welding tracks according to claim 1, characterized in that: An air guide column (19) is vertically installed on one side of the top of the regulating box (18), the lower end of the air guide column (19) extends into the regulating box (18) and is connected to the port of the dust removal fan, a telescopic hose (20) is installed on the upper end of the side wall of the air guide column (19), an air guide ring (21) is fixedly installed at the end of the telescopic hose (20), the air guide ring (21) is sleeved on the vertical pipe (14) and is rotatably connected to the column, and a through hole is opened on the surface of the vertical pipe (14) and the through hole is located on the inner side of the air guide ring (21).

3. The automatic welding robot capable of identifying welding tracks according to claim 1, characterized in that: An air guide box (15) is installed on the top surface of the T-shaped frame (16) and located between the two fixing seats (10); a plug hole is provided on the side wall of the air guide box (15) and a dust storage box (13) is embedded and connected inside the plug hole; a front end of the air guide box (15) is connected to the side wall of the fixing seat (10); an air guide hole (24) is provided inside the air guide box (15) and the air guide hole (24) is communicated with the inside of the vertical pipe (14).

4. The automatic welding robot capable of identifying welding tracks according to claim 1, characterized in that: Air inlet holes (11) are respectively provided on both sides and the front end of the fixing seat (10), and the air inlet holes (11) are communicated with the air guide box (15).

5. The automatic welding robot capable of identifying welding tracks according to claim 3, characterized in that: An air inlet (25) is arranged at one end of the dust storage box (13), a filter screen (23) is arranged at the other end of the dust storage box (13), and a handle is installed at the middle of the outer wall of the dust storage box (13).

6. The automatic welding robot capable of identifying welding tracks according to claim 5, characterized in that: Two groups of closed diaphragms (26) are symmetrically arranged inside the air inlet (25); the closed diaphragms (26) are made of rubber material and have magnetic suction plates installed at their ends; the two symmetrically arranged closed diaphragms (26) are connected by a magnetic suction plate.

7. The automatic welding robot capable of identifying welding tracks according to claim 1, characterized in that: The welding track recognition system comprises a welding power source, a sensor component, a signal acquisition card, a filter, an amplifying circuit, and a digital-to-analog conversion circuit.

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