Robot laser identification automatic positioning welding device

Abstract

The invention discloses a robot laser recognition automatic positioning welding device, and relates to the technical field of laser recognition welding, a supporting plate is fixedly connected above the side edge of a base table, a reciprocating adjusting mechanism is arranged outside the supporting plate, the reciprocating adjusting mechanism comprises a first motor arranged outside the supporting plate, and a connecting shaft piece is arranged at the output end of the first motor; a sliding block is rotatably connected to the side, away from the first motor, of the connecting shaft piece, an oval sliding groove plate is slidably connected to the side edge of the sliding block, a rack plate is fixedly connected to the side, close to the sliding block, of the oval sliding groove plate, a gear is engaged with the upper portion of the rack plate, and a connecting rod is fixedly connected to the side, away from the rack plate, of the gear; a fixing mechanism used for fixing the welding part is arranged at one end, far away from the gear, of the connecting rod, so that the laser recognizer can recognize the welding part comprehensively without dead angles, and the problem of view blind areas caused by attachment of the workbench and the welding part in a traditional device is effectively solved; and the accuracy of identifying the welding position of the welding part by laser is improved.

Description

Technical Field

[0001] The invention relates to the technical field of laser recognition welding, and in particular to a robot laser recognition automatic positioning welding device. Background Art

[0002] Robotic laser recognition technology is an advanced automation technology that uses laser sensors, computer vision technology and machine learning technology to automatically identify, locate and track welding parts or other target objects. In the field of welding automation, robotic laser recognition technology can realize automatic identification, location and tracking of welding parts, thereby improving the accuracy and efficiency of welding. This technology is particularly suitable for welding tasks with complex shapes and structures, such as welding in the fields of automotive manufacturing, aerospace, etc.

[0003] After searching, the invention patent with Chinese patent number CN110605457A discloses a robot automatic welding device for single-sided welding and double-sided forming of workpieces with unequal gaps, including: a robot system, a welding system, a laser tracking system, and a robot walking guide rail. The welding gun and laser tracking system of the welding system are installed at the front end of the robot. The laser tracking system and the welding gun are set at an angle to achieve real-time tracking and positioning. The laser tracking system identifies the weld width of the V-groove of the workpiece with unequal gaps and automatically feeds back the weld width to the control device of the robot system. The laser tracking system includes a power supply. The robot control device matches the welding process parameters corresponding to the corresponding V-groove weld width in the welding path teaching program according to the weld width identified by the laser tracking system, calls the matched welding process parameters, and performs welding with different welding process parameters for workpieces with unequal gaps. Improved welding efficiency and welding quality, reduced labor intensity, and no misaligned edges of workpieces are achieved.

[0004] However, in actual use of the above device, when performing laser identification on parts that need to be welded, the parts need to be placed on a workbench for identification. Since the top of the workbench is in contact with the welded parts, there is a large blind spot in the field of view when using laser to identify the welded parts, which affects the overall appearance of the laser identification device, reduces the accuracy of the device in identifying the welding position of the welded parts, and has low work efficiency. Therefore, a robot laser recognition automatic positioning welding device is proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the problem in the prior art that when laser identification is performed on parts to be welded, the parts need to be placed on a workbench for identification. Since the top of the workbench is in contact with the welded parts, a large blind spot in the field of view occurs when the welded parts are identified using laser, which affects the overall appearance of the laser identification device, reduces the accuracy of the device in identifying the welding position of the welded parts, and results in low work efficiency. A robot laser identification automatic positioning welding device is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The transmission mechanism is a kind of rotation of the transmission mechanism, and the rotation of the transmission mechanism is a kind of rotation of the transmission mechanism, and the rotation of the transmission mechanism is a kind of rotation of the transmission mechanism, and the rotation of the transmission mechanism is a kind of rotation of the transmission mechanism, and the rotation of the transmission mechanism is a kind of rotation of the transmission mechanism.

[0008] The above technical solution further includes:

[0009] The support plate is fixedly connected to the first motor, a fixing plate is fixedly connected above the support plate, and the fixing plate is rotatably connected to the connecting rod.

[0010] A side of the rack plate close to the gear is slidably connected with a long slide plate, and the long slide plate is fixedly connected to the fixed plate.

[0011] The fixing mechanism comprises a concave plate fixedly connected to the outside of the connecting rod, a first threaded rod is threadedly connected to the side of the concave plate, and an elastic fixing plate is fixedly connected to a side of the first threaded rod close to the concave plate.

[0012] An elevated plate is fixedly connected above the base.

[0013] A dust dispersion mechanism is arranged inside the elevated plate, and the dust dispersion mechanism includes a second motor arranged inside the elevated plate, a second threaded rod is arranged at the output end of the second motor, a threaded barrel is threadedly connected to the side of the second threaded rod away from the second motor, a movable plate is fixedly connected above the threaded barrel, and a fan is arranged on the movable plate away from the threaded barrel.

[0014] A square groove is provided inside the elevated plate, the second motor is fixedly mounted on the inner wall of the square groove, the second threaded rod is rotationally connected to the square groove, and the threaded cylinder is slidingly connected to the square groove.

[0015] A slide groove is provided inside the elevated plate, a connecting piece is slidably connected above the slide groove, and the connecting piece is fixedly connected to the movable plate.

[0016] A control base is arranged on the side of the base away from the support plate, a mechanical arm is arranged above the control base, a laser identifier is arranged on the side of the mechanical arm away from the control base, and a weldment is arranged on the side of the mechanical arm close to the laser identifier.

[0017] A welding control box is arranged on one side of the base close to the control base.

[0018] The present invention has the following beneficial effects:

[0019] 1. In the present invention, after the first motor is started, the slider is driven to slide inside the elliptical slide plate through the coupling and the elliptical slide plate is moved. The elliptical slide plate drives the gear to rotate back and forth through the rack plate, thereby driving the weldment to flip back and forth through the fixing mechanism. Through the design of the reciprocating adjustment mechanism, the weldment can flip back and forth during the laser recognition process, thereby ensuring that the laser identifier can identify the weldment in all aspects and without blind spots. This design effectively solves the problem of blind spots in the field of vision caused by the fitting of the workbench and the weldment in the traditional device, and significantly improves the accuracy of the laser recognition device in identifying the welding position of the weldment.

[0020] 2. In the present invention, both the reciprocating adjustment mechanism and the dust dispersing mechanism are designed to be movable and adjustable, so that the entire welding device can flexibly cope with welding parts of different shapes, sizes and positions. This design not only improves the adaptability of the device, but also makes the welding process more efficient and convenient. The dust dispersing mechanism can effectively remove the dust and smoke generated during the welding process through the design of a mobile fan, thereby keeping the welding environment clean. This is not only conducive to the accuracy of laser recognition, but also can reduce the generation of welding defects and improve welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a robot laser recognition automatic positioning welding device proposed by the present invention;

[0022] Figure 2 It is a three-dimensional structural schematic diagram of the reciprocating adjustment mechanism in the present invention;

[0023] Figure 3 It is a three-dimensional structural schematic diagram of the dust dispersing mechanism in the present invention;

[0024] Figure 4 It is a schematic diagram of a partial three-dimensional structure of the present invention;

[0025] Figure 5 for Figure 2 A schematic diagram of the structure enlargement in the middle;

[0026] Figure 6 for Figure 3Enlarged schematic diagram of the structure at point B in the middle.

[0027] In the figure: 1. base; 2. support plate; 3. first motor; 4. coupling; 5. slider; 6. elliptical slide plate; 7. rack plate; 8. gear; 9. connecting rod; 10. concave plate; 11. fixed plate; 12. long slide plate; 13. first threaded rod; 14. elastic fixed plate; 15. elevated plate; 16. second motor; 17. square groove; 18. second threaded rod; 19. threaded cylinder; 20. moving plate; 21. fan; 22. slide; 23. connector; 24. control base; 25. robotic arm; 26. laser identifier; 27. weldment; 28. welding control box. DETAILED DESCRIPTION

[0028] 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.

[0029] Embodiment 1

[0030] like Figure 1-Figure 6 As shown, a robot laser recognition automatic positioning welding device proposed by the present invention comprises a base 1, a support plate 2 is fixedly connected to the upper side of the base 1, a reciprocating adjustment mechanism is arranged outside the support plate 2, the reciprocating adjustment mechanism comprises a first motor 3 arranged outside the support plate 2, a coupling 4 is arranged at the output end of the first motor 3, a slider 5 is rotatably connected to the side of the coupling 4 away from the first motor 3, an elliptical slide plate 6 is slidably connected to the side of the slider 5, a rack plate 7 is fixedly connected to the side of the elliptical slide plate 6 close to the slider 5, a gear 8 is meshed and connected above the rack plate 7, a connecting rod 9 is fixedly connected to the side of the gear 8 away from the rack plate 7, and a fixing mechanism for fixing the weldment is arranged at one end of the connecting rod 9 away from the gear 8, after the first motor 3 is started, the slider 5 is driven by the coupling 4 to slide inside the elliptical slide plate 6 and move the elliptical slide plate 6, the elliptical slide plate 6 drives the gear 8 to reciprocate through the rack plate 7, and the gear 8 drives the weldment fixed by the fixing mechanism to reciprocate through the connecting rod 9.

[0031] An elevated plate 15 is fixedly connected above the base 1 .

[0032] A dust dispersion mechanism is arranged inside the elevated plate 15, and the dust dispersion mechanism includes a second motor 16 arranged inside the elevated plate 15, a second threaded rod 18 is arranged at the output end of the second motor 16, a threaded barrel 19 is threadedly connected to the side of the second threaded rod 18 away from the second motor 16, a movable plate 20 is fixedly connected above the threaded barrel 19, and a fan 21 is arranged on the movable plate 20 away from the threaded barrel 19.

[0033] A square groove 17 is formed inside the elevated plate 15 , and the second motor 16 is fixedly mounted on the inner wall of the square groove 17 . The second threaded rod 18 is rotatably connected to the square groove 17 , and the threaded cylinder 19 is slidably connected to the square groove 17 .

[0034] In this embodiment, a support plate 2 is fixedly connected above the base 1, and the reciprocating adjustment mechanism arranged outside the support plate 2 is started, and the first motor 3 in the reciprocating adjustment mechanism starts to run. The first motor 3 is fixedly installed outside the support plate 2, and the output end of the first motor 3 passing through the inside of the support plate 2 is provided with a coupling 4. When the first motor 3 is running, it starts to control the coupling 4 to rotate in a circular manner. When the coupling 4 rotates, it drives the slider 5 rotatably connected to the other end thereof to start sliding inside the elliptical slide plate 6, and makes the slider 5 move while driving the elliptical slide plate 6 to move, and the elliptical slide plate 6 is reciprocated by the linkage with the coupling 4, and when the elliptical slide plate 6 moves, it drives the slider 5 between the outside thereof and the slider 5. The fixedly connected rack plate 7 moves back and forth, and when the rack plate 7 moves, it drives the gear 8 meshing with the upper part to start reciprocating rotation. When the gear 8 reciprocates, it drives the connecting rod 9 fixedly connected with the outside to reciprocate rotation. When the connecting rod 9 moves, it drives the welded parts in the fixed mechanism arranged outside to reciprocate and flip. A control base 24 is arranged above the base 1. The control base 24 can control the mechanical arm 25 to move to any position. When the mechanical arm 25 moves, it drives the laser identifier 26 to start laser recognition of the welded parts that are reciprocating and flipping, so that the laser identifier 26 can perform laser recognition of the welded parts in all aspects without dead angles, thereby improving the accuracy of laser recognition and positioning of welding positions;

[0035] An elevated plate 15 is fixedly connected above the base 1, and the dust dispersing mechanism arranged inside the elevated plate 15 is started. A square groove 17 is opened inside the elevated plate 15, and the second motor 16 fixedly installed on the inner wall of the square groove 17 starts to run. When the second motor 16 runs, it starts to control the second threaded rod 18 arranged at its output end to rotate, and the other end of the second threaded rod 18 rotates on the inner wall of the square groove 17, and the other side of the second threaded rod 18 rotates inside the threaded barrel 19 and generates spiral power, so that the threaded barrel 19 slides on the inner wall of the square groove 17, and when the threaded barrel 19 moves, it drives the movable plate 20 arranged above it to start moving, and when the movable plate 20 moves, it drives the fan 21 installed above it to start moving. There are multiple groups of fans 21, and the multiple groups of fans 21 can perform dust dispersing operations at different positions, so that the dust generated by the weldment 27 during welding is removed, and the dust is prevented from affecting the accuracy of laser recognition.

[0036] Embodiment 2

[0037] like Figure 1-Figure 6 As shown, based on the first embodiment, the support plate 2 is fixedly connected to the first motor 3 , a fixing plate 11 is fixedly connected above the support plate 2 , and the fixing plate 11 is rotatably connected to the connecting rod 9 .

[0038] A long chute plate 12 is slidably connected to one side of the rack plate 7 close to the gear 8 , and the long chute plate 12 is fixedly connected to the fixed plate 11 .

[0039] The fixing mechanism comprises a concave plate 10 fixedly connected to the outside of the connecting rod 9 , a first threaded rod 13 is threadedly connected to the side of the concave plate 10 , and an elastic fixing plate 14 is fixedly connected to the side of the first threaded rod 13 close to the concave plate 10 .

[0040] A slide groove 22 is provided inside the elevated plate 15 , and a connecting member 23 is slidably connected above the slide groove 22 . The connecting member 23 is fixedly connected to the movable plate 20 .

[0041] A control base 24 is provided on the side of the base 1 away from the support plate 2 , a robotic arm 25 is provided above the control base 24 , a laser identifier 26 is provided on the side of the robotic arm 25 away from the control base 24 , and a weldment 27 is provided on the side of the robotic arm 25 close to the laser identifier 26 .

[0042] A welding control box 28 is provided on one side of the base 1 close to the control base 24 .

[0043] In this embodiment, a fixed plate 11 is fixedly connected above the support plate 2, and the connecting rod 9 will rotate inside the fixed plate 11. A long chute plate 12 is fixedly connected below the fixed plate 11. The rack plate 7 is slidably connected to the inner wall of the long chute plate 12, and the rack plate 7 will reciprocate on the inner wall of the long chute plate 12 to ensure the stability of the reciprocating adjustment mechanism during operation. The concave plate 10 in the fixing mechanism is threadedly connected to the first threaded rod 13 at both ends. By rotating the two groups of first threaded rods 13, the two groups of first threaded rods 13 are moved inside the threaded cylinder 19, and the two groups of elastic fixed plates 14 are driven to move toward each other and fix the welded parts. A chute 22 is opened inside the elevated plate 15. When the moving plate 20 moves, it will drive the connecting piece 23 fixedly connected to it below to start moving, and the connecting piece 23 starts to slide on the inner wall of the chute 22 to ensure the stability of the dust dispersing mechanism during operation.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot laser recognition automatic positioning welding device, comprising a base (1), characterized in that: A support plate (2) is fixedly connected to the upper side of the base (1), and a reciprocating adjustment mechanism is arranged outside the support plate (2). The reciprocating adjustment mechanism includes a first motor (3) arranged outside the support plate (2), and a coupling member (4) is arranged at the output end of the first motor (3). A slider (5) is rotatably connected to the side of the coupling member (4) away from the first motor (3). An elliptical slide plate (6) is slidably connected to the side of the slider (5). A rack plate (7) is fixedly connected to the side of the elliptical slide plate (6) close to the slider (5), and the rack plate (7) is meshingly connected to the upper side. A gear (8) is provided, and a connecting rod (9) is fixedly connected to the side of the gear (8) away from the rack plate (7). A fixing mechanism for fixing the welded part is arranged at the end of the connecting rod (9) away from the gear (8). After the first motor (3) is started, the slider (5) is driven to slide inside the elliptical slide plate (6) through the coupling member (4) and the elliptical slide plate (6) is moved. The elliptical slide plate (6) drives the gear (8) to reciprocate through the rack plate (7), and the gear (8) drives the welded part fixed by the fixing mechanism to flip back and forth through the connecting rod (9).

2. The robot laser recognition automatic positioning welding device according to claim 1 is characterized in that: The support plate (2) is fixedly connected to the first motor (3), a fixing plate (11) is fixedly connected above the support plate (2), and the fixing plate (11) is rotatably connected to the connecting rod (9).

3. The robot laser recognition automatic positioning welding device according to claim 2 is characterized in that: A side of the rack plate (7) close to the gear (8) is slidably connected to a long slide plate (12), and the long slide plate (12) is fixedly connected to the fixed plate (11).

4. The robot laser recognition automatic positioning welding device according to claim 1 is characterized in that: The fixing mechanism comprises a concave plate (10) fixedly connected to the outside of the connecting rod (9), a first threaded rod (13) being threadedly connected to the side of the concave plate (10), and an elastic fixing plate (14) being fixedly connected to the side of the first threaded rod (13) close to the concave plate (10).

5. The robot laser recognition automatic positioning welding device according to claim 1 is characterized in that: An elevated plate (15) is fixedly connected above the base (1).

6. The robot laser recognition automatic positioning welding device according to claim 5 is characterized in that: A dust dispersing mechanism is arranged inside the elevated plate (15), and the dust dispersing mechanism comprises a second motor (16) arranged inside the elevated plate (15); a second threaded rod (18) is arranged at the output end of the second motor (16); a threaded barrel (19) is threadedly connected to the side of the second threaded rod (18) away from the second motor (16); a movable plate (20) is fixedly connected above the threaded barrel (19); and a fan (21) is arranged on the side of the movable plate (20) away from the threaded barrel (19).

7. The robot laser recognition automatic positioning welding device according to claim 6 is characterized in that: A square groove (17) is provided inside the elevated plate (15), the second motor (16) is fixedly mounted on the inner wall of the square groove (17), the second threaded rod (18) is rotationally connected to the square groove (17), and the threaded cylinder (19) is slidingly connected to the square groove (17).

8. The robot laser recognition automatic positioning welding device according to claim 6 is characterized in that: A slide groove (22) is provided inside the elevated plate (15), a connecting piece (23) is slidably connected above the slide groove (22), and the connecting piece (23) is fixedly connected to the movable plate (20).

9. The robot laser recognition automatic positioning welding device according to claim 1, characterized in that: A control base (24) is arranged on the side of the base (1) away from the support plate (2), a mechanical arm (25) is arranged above the control base (24), a laser identifier (26) is arranged on the side of the mechanical arm (25) away from the control base (24), and a weldment (27) is arranged on the side of the mechanical arm (25) close to the laser identifier (26).

10. The robot laser recognition automatic positioning welding device according to claim 9, characterized in that: A welding control box (28) is provided on one side of the base (1) close to the control base (24).

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