Full-automatic welding robot based on machine vision

Abstract

The invention relates to the field of welding, in particular to a full-automatic welding robot based on machine vision, which comprises a robot body, a fixing ring, a visual camera and the like, the moving end of the robot body is connected with a welding head. A fixing ring is fixedly connected to the side, away from the welding end, of the welding head. A visual camera is installed at the moving end of the robot body. According to the invention, each suction pipe is close to the position of a welding point, so that the smoke is sucked away from the source to the greatest extent, the smoke is prevented from floating upwards and blocking the shooting of a visual camera on the welding point, and the normal welding work is ensured; meanwhile, heat generated by welding is pumped away along with air, low-temperature air around the robot body flows towards a welding head, the temperature around the welding head is reduced, and the situation that a visual camera is damaged due to the fact that the visual camera is located in a high-heat environment for a long time is avoided; in addition, through the layout and design of the suction pipe, the smoke suction effect is guaranteed, meanwhile, observation of a visual camera on a welding point is not shielded, and practicability is high.

Description

Technical Field

[0001] The invention relates to the field of welding, and in particular to a full-automatic welding robot based on machine vision. Background Art

[0002] During the welding process, a large amount of smoke is easily generated at the welding point. The smoke floats upward and blocks the visual component's shooting of the welding point, making it impossible to know the actual welding situation. In addition, the welding smoke contains substances that are harmful to the human body. When the smoke dissipates, the harmful substances float invisibly in the air. When engineers debug the welding robot, they are likely to inhale harmful substances, which damages their health. In addition, a large amount of heat is released during the welding process, and the visual components are easily damaged if they are in a high-temperature environment for a long time. In addition, the existing suction equipment is large in size, and suction close to the welding point is likely to block the visual component's shooting of the welding point and affect the movement of the welding robot. In addition, some welding positions are narrow and can only be entered by welding components. The suction equipment is far from the welding point and the suction effect is poor. Summary of the invention

[0003] In order to overcome the shortcomings that welding produces a large amount of smoke, which blocks the visual element from photographing the welding point, making it impossible to know the actual welding situation, a large amount of heat is released during welding, and the visual element is easily damaged in a high-temperature environment for a long time, the present invention provides a fully automatic welding robot based on machine vision.

[0004] The technical implementation scheme of the present invention is as follows: a fully automatic welding robot based on machine vision, comprising a robot body, a fixing ring and a visual camera; the moving end of the robot body is connected with a welding head; the side of the welding head away from the welding end is fixedly connected with a fixing ring; the moving end of the robot body is equipped with a visual camera for observing the welding condition of the welding head; it also comprises a mounting plate, a connecting shaft, a suction pipe, a protective plate, a pull rope, an electric push rod and an electric reel; a plurality of electric push rods are connected to the fixing ring; the output ends of all the electric push rods are fixedly connected with a mounting plate; three notches are provided in a ring shape on the mounting plate; a connecting shaft is provided in each notch; the mounting plate surrounds the welding head in a ring shape; Each connecting shaft is rotatably connected to a suction tube via a torsion spring; a suction pump is provided on the robot body; the suction pump is connected to each suction tube via a hose; a plurality of suction ports are provided on the suction tube; each suction tube is connected to a plurality of protective sheets covering the suction ports, and the protective sheets are arc-shaped; each suction tube is connected to a swivel; the swivel is fixedly connected to all the protective sheets on the corresponding suction tubes; a gas channel is formed between the protective sheets and the corresponding suction tubes; a pull ring is fixedly connected to one side of each suction tube away from the connecting shaft; three electric reels are connected to the fixed ring; a pull rope is wound around each electric reel; and the free end of each pull rope is fixedly connected to a pull ring.

[0005] More preferably, it also includes a supporting assembly, which includes a fixed block, a connecting block and a roller; a plurality of fixed blocks are fixedly connected in a ring-shaped distribution on the lower side of the mounting plate; each fixed block is slidably connected to a connecting block; an elastic member is provided between the fixed block and the connecting block; and a roller is rotatably connected to the connecting block.

[0006] More preferably, a driving assembly is also included, which includes a first flat gear, a frameless motor and a second flat gear; each suction pipe is rotatably connected to a first flat gear; the first flat gear is fixedly connected to all protective sheets on the corresponding suction pipe; the fixed ring is connected to the frameless motor; the output end of the frameless motor is fixedly connected to the second flat gear; the second flat gear is adapted to the first flat gear.

[0007] More preferably, a protective ring is also included; each suction pipe is rotatably connected to a protective ring for preventing welding sparks and slag from splashing onto the first flat gear; the protective ring is located on the lower side of the corresponding first flat gear; the protective ring is fixedly connected to the corresponding first flat gear.

[0008] More preferably, the edge of the protection sheet is arranged at a bevel angle.

[0009] More preferably, the pull rope is a steel wire rope.

[0010] More preferably, a baffle is further included; a baffle is fixedly connected to the lower side of each suction pipe for preventing sparks from flying upwards; all the baffles are combined to form a ring; the inner diameter of the ring is the same as the outer diameter of the welding head.

[0011] More preferably, a grinding sheet is provided on the contact surface between the baffle and the welding head.

[0012] More preferably, it also includes a four-way joint and a blowing pipe; each suction pipe is connected to a four-way joint on the upper side; each suction pipe is fixedly connected to a blowing pipe; a suction pipe is passed through the lower side of the blowing pipe and faces the welding head; one inlet of the four-way joint is connected to the suction pump pipeline, and the corresponding outlet is connected to the suction pipe; an blowing pump is arranged on the robot body; another inlet of the four-way joint is connected to the blowing pump, and the corresponding outlet is connected to the blowing pipe.

[0013] More preferably, the outlet at the lower side of the blowing pipe is in a bundle shape.

[0014] Compared with the prior art, the present invention has the following advantages: the present invention realizes that each suction pipe is located at the lower side of the welding head, close to the welding point, so as to extract the smoke from the source to the greatest extent, prevent the smoke from drifting upwards, and block the visual camera from shooting the welding point, so as to ensure the normal welding work; at the same time, the heat generated by welding is extracted along with the air, and the low-temperature air around the robot body flows to the welding head, reducing the temperature around the welding head, and preventing the visual camera from being easily damaged in a high-temperature environment for a long time; in addition, through the layout and design of the suction pipe, while ensuring the smoke suction effect, it does not block the visual camera from observing the welding point, and has strong practicality; When the welding head penetrates into a narrow position for welding, the mounting plate and the parts thereon move upwards and away from the head of the welding head for avoidance. At the same time, the suction pipes spread out to the surroundings to expand the suction coverage area, thereby avoiding the suction pipes being away from the welding point and causing the suction effect to decrease; The corresponding suction port is shielded by the protective sheet to prevent welding slag from adhering to the suction pipe in large quantities, thereby preventing the suction port from being blocked and the flying sparks from being easily sucked into the interior by the suction pipe. The welding slag adhered to the surface of the suction pipe is scraped off by rotating the protective sheet to prevent excessive accumulation of welding slag adhered to the surface of the suction pipe exposed between the protective sheets, thereby blocking the gas passage; The baffle is used to block sparks from flying upwards and scrape off the welding slag on the welding head to prevent the welding head surface from being roughened by excessive welding slag, which may affect the movement of the mounting plate and the parts thereon; The air blown out of the air blow pipe blows the welding slag scraped off by the baffle to the welded area to prevent the welding slag from falling on the unwelded area. When the welding head welds to the area containing welding slag, the presence of welding slag can easily affect the welding quality and cause welding failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the fully automatic welding robot based on machine vision of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the welding head, the fixing ring, the mounting plate, the suction pipe and the visual camera combination of the present invention; Figure 3 It is a three-dimensional structural schematic diagram of the suction tube of the present invention in an unfolded state; Figure 4 A top view of the welding head, the mounting plate, the connecting shaft and the suction pipe assembly of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the combination of the mounting plate, the connecting shaft and the supporting assembly of the present invention; Figure 6 It is a schematic diagram of a first three-dimensional structure of the combination of the suction pipe, the protective sheet, the first flat gear, the protective ring, the baffle, the cross-connector and the blowing pipe of the present invention; Figure 7 It is a schematic diagram of a second three-dimensional structure of the combination of the suction pipe, the protective sheet, the first flat gear, the protective ring, the baffle, the cross-connector and the blowing pipe of the present invention; Figure 8 is a cross-sectional view of a suction tube and a protective sheet combination of the present invention; Fig. 9 For the present invention Figure 8 The enlarged view of point A in the middle; Fig.10 A top view of the suction tube and protective sheet combination of the present invention; Fig.11 It is a three-dimensional structural schematic diagram of the meshing state of the first spur gear and the second spur gear of the present invention.

[0016] The markings of the components in the accompanying drawings are as follows: 1-robot body, 1001-welding head, 2-fixing ring, 3-mounting plate, 4-connecting shaft, 5-suction tube, 5001-suction port, 5002-pull ring, 6-protective plate, 6001-swivel, 6002-gas channel, 7-pull rope, 101-electric push rod, 102-electric reel, 21-fixing block, 22-connecting block, 2201-elastic part, 23-roller, 31-first flat gear, 32-frameless motor, 33-second flat gear, 34-protective ring, 41-blocking plate, 51-four-way joint, 52-air blowing tube, 001-visual camera. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention are described clearly and completely below. 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.

[0018] Example 1 like Figure 1-Figure 11 As shown, a fully automatic welding robot based on machine vision includes a robot body 1, a fixing ring 2 and a visual camera 001; the moving end of the robot body 1 is connected to a welding head 1001; the side of the welding head 1001 away from the welding end is fixedly connected to the fixing ring 2; the moving end of the robot body 1 is installed with a visual camera 001; It also includes a mounting plate 3, a connecting shaft 4, a suction pipe 5, a protective plate 6, a pull rope 7, an electric push rod 101 and an electric reel 102; two electric push rods 101 are connected to the fixing ring 2; the output ends of all the electric push rods 101 are fixedly connected to the mounting plate 3; three notches are opened in a ring shape on the mounting plate 3; a connecting shaft 4 is arranged in each notch; the mounting plate 3 is annularly surrounding the welding head 1001; each connecting shaft 4 is rotatably connected to a suction pipe 5 through a torsion spring; a suction pump is arranged on the robot body 1; the suction pump is connected to each suction pipe 5 through a hose; a suction pipe 5 is opened There are three vertical rows of suction ports 5001; three protective sheets 6 are connected to each suction tube 5, and the protective sheets 6 are arc-shaped; a swivel 6001 is rotatably connected to the lower side of each suction tube 5; the swivel 6001 is fixedly connected to all the protective sheets 6 on the corresponding suction tubes 5; a gas channel 6002 is formed between the protective sheets 6 and the corresponding suction tubes 5; a pull ring 5002 is fixedly connected to the side of each suction tube 5 away from the connecting shaft 4; three electric reels 102 are connected to the fixed ring 2; a pull rope 7 is wound around each electric reel 102; the free end of each pull rope 7 is respectively fixedly connected to a pull ring 5002.

[0019] It also includes a supporting assembly, which includes a fixed block 21, a connecting block 22 and a roller 23; three fixed blocks 21 are fixedly connected in a ring-shaped arrangement on the lower side of the mounting plate 3; each fixed block 21 is slidably connected to a connecting block 22; an elastic member 2201 is provided between the fixed block 21 and the connecting block 22; the roller 23 is rotatably connected to the connecting block 22; the connecting block 22 is pushed by the elastic member 2201 to slide along the fixed block 21, so that the roller 23 is in close contact with the surface of the welding head 1001, thereby ensuring the stability of the mounting plate 3 and the parts thereon.

[0020] It also includes a driving assembly, which includes a first flat gear 31, a frameless motor 32 and a second flat gear 33; each suction pipe 5 is rotatably connected to a first flat gear 31 on the upper side; the first flat gear 31 is fixedly connected to all protective sheets 6 on the corresponding suction pipe 5; the frameless motor 32 is bolted to the lower side of the fixing ring 2; the output end of the frameless motor 32 is fixedly connected to the second flat gear 33; the second flat gear 33 is adapted to the first flat gear 31.

[0021] It also includes a protection ring 34 ; each suction pipe 5 is rotatably connected to the upper side with a protection ring 34 ; the protection ring 34 is located at the lower side of the corresponding first flat gear 31 ; the protection ring 34 is fixedly connected to the corresponding first flat gear 31 .

[0022] The edge of the protection sheet 6 is set at an angle to facilitate scraping off welding slag.

[0023] The pull rope 7 is a steel wire rope, which increases the service life.

[0024] During the welding process, a large amount of smoke is easily generated at the welding point. The smoke floats upward and blocks the visual components from shooting the welding points, making it impossible to know the actual welding situation. The welding smoke contains substances that are harmful to the human body. When the smoke dissipates, the harmful substances float invisibly in the air. When engineers debug the welding robot, they are prone to inhaling harmful substances, which damages their health. In addition, a large amount of heat is released during the welding process, and the visual components are easily damaged if they are in a high-temperature environment for a long time.

[0025] When the present invention performs welding, the visual camera 001 first scans the welded part to generate a welding path, and then issues a command to the robot body 1 to start welding. During the welding process, the suction pump on the robot body 1 is started so that each suction pipe 5 connected by the pipeline has a suction force. Figure 2 As shown, each suction tube 5 surrounds the lower outer side of the welding head 1001, close to the welding point, and then extracts the smoke from the source to the greatest extent, preventing the smoke from drifting upward and blocking the visual camera 001 from shooting the welding point, thereby ensuring normal welding work; at the same time, the heat generated by welding is extracted along with the air through suction, thereby reducing the temperature around the welding head 1001 and preventing the visual camera 001 from being easily damaged in a high-temperature environment for a long time; in addition, each suction tube 5 is distributed in a ring shape, and the visual camera 001 is facing the gap between two adjacent suction tubes 5, so as to effectively capture the welding condition of the welding head 1001, and then through the layout and design of the suction tube 5, while ensuring the smoke suction effect, it does not block the visual camera 001 from observing the welding point, which is highly practical.

[0026] When some welding positions are narrow and only the welding head 1001 can enter, the robot body 1 is controlled to make the welding head 1001 penetrate into the welding position for welding. At the same time, the electric push rod 101 is controlled to contract to drive the mounting plate 3 and the parts thereon to move upward and away from the head of the welding head 1001 for avoidance. As the suction pipe 5 moves away from the welding point of the head of the welding head 1001, the suction effect is reduced. The smoke generated by welding floats upward and disperses around at the same time, which is easy to block the visual camera 001 from shooting. Then, while the mounting plate 3 moves upward, the electric reel 102 is controlled to reel in the draw rope 7. The draw rope 7 pulls the corresponding draw ring 5002, so that the suction pipe 5 opens outward with the connecting shaft 4 as the rotation point. Figure 3 As shown, each suction tube 5 is extended in all directions to expand the suction coverage area, thereby ensuring that the suction tube 5 can suck the diffused smoke and preventing the smoke from diffusing too much and blocking the visual camera 001 from shooting; when the welding head 1001 is welding in an open position, the electric push rod 101 is controlled again to push the mounting plate 3 and the parts thereon downward, and the electric reel 102 is controlled to release the pull rope 7, so that the suction tube 5 is restored to a vertical state under the action of the torsion spring, and suction work is performed close to the welding point.

[0027] In addition, the electric components of the present invention are all arranged at a height away from the welding point of the welding head 1001 to avoid the air temperature being higher closer to the welding point, and the electric components being too close and easily damaged in a high temperature environment for a long time.

[0028] Furthermore, by applying an extrusion force to the connecting block 22 through the elastic member 2201, the connecting block 22 can slide along the fixed block 21, so that the roller 23 is in close contact with the surface of the welding head 1001, thereby ensuring the stability of the mounting plate 3 and the parts thereon, and when the mounting plate 3 moves up and down, the roller 23 rolls on the surface of the welding head 1001 to reduce friction resistance.

[0029] During the welding process, a large number of sparks are generated, and after the sparks cool down, they form sticky welding slag. If a large amount of welding slag adheres to the suction tube 5, it is easy to cause the suction port 5001 to be blocked, and the suction effect is reduced. At the same time, the flying sparks are sucked into the interior of the suction tube 5 and are difficult to clean, and the sparks follow the smoke to enter the suction pump, which is easy to cause damage to the suction pump; therefore, a protective sheet 6 is provided on the suction tube 5 to block the corresponding suction port 5001, and the smoke is sucked into the suction tube 5 and then removed through the gas channel 6002 between the suction tube 5 and the protective sheet 6, thereby avoiding the problem that the suction port 5001 is blocked by welding slag and the flying sparks are easily sucked into the interior by the suction tube 5.

[0030] Furthermore, compared with the suction direction of the suction port 5001 being toward the circumference of the suction tube 5, the gas channel 6002 is designed to be opened along the circumference of the suction tube 5, so that the spark slag splashed and rebounded is not easy to directly enter the gas channel 6002, and thus the gas channel 6002 is less likely to be blocked by the slag. However, after a long period of welding, there is still excessive accumulation of slag adhered to the surface of the suction tube 5 exposed between the protective sheets 6, which in turn blocks the gas channel 6002. Therefore, when the visual camera 001 observes that there is a risk of clogging the gas channel 6002 by the slag adhered to the surface of the suction tube 5 exposed between the protective sheets 6, the electric push rod 101 is controlled to contract, driving the mounting sheet 3 and the parts thereon to move upward, and the electric reel 102 synchronously controls the length of the pull rope 7, so that the suction tube 5 is in a In the vertical state, until the electric push rod 101 reaches the contraction limit, the first flat gear 31 on each suction tube 5 will mesh with the second flat gear 33, and then the frameless motor 32 will be controlled to work, the frameless motor 32 drives the second flat gear 33 to rotate, the second flat gear 33 drives the first flat gear 31, and the first flat gear 31 drives the corresponding protective sheet 6 and the rotating ring 6001 to rotate on the suction tube 5, and then the welding slag adhered to the surface of the suction tube 5 is scraped off by the vertical edge of the rotating protective sheet 6, so as to avoid excessive accumulation of welding slag adhered to the surface of the suction tube 5 exposed between the protective sheets 6, thereby blocking the gas channel 6002; while scraping off the welding slag, the suction pump is controlled to reverse and blow air, and the air is blown out through the suction port 5001 and the gas channel 6002 to blow the scraped welding slag away from the suction tube 5.

[0031] It should be noted that during the upward movement of the first spur gear 31 and the meshing movement of the second spur gear 33, since the connecting shaft 4 is higher than the first spur gear 31, it will reach the same height as the second spur gear 33 before the first spur gear 31. However, the area occupied by the connecting shaft 4 is smaller than the meshing area of ​​the first spur gear 31 and the second spur gear 33. As a result, the first spur gear 31 continues to move upward, and during the meshing movement of the second spur gear 33, the connecting shaft 4 does not contact the second spur gear 33, and does not affect the meshing movement of the first spur gear 31 and the second spur gear 33.

[0032] Example 2 On the basis of Example 1, Figure 2-Figure 4 and Figure 6-Figure 8 As shown, a baffle 41 is also included; a baffle 41 is fixedly connected to the lower side of each suction pipe 5; all baffles 41 are combined to form a ring; the inner diameter of the ring is the same as the outer diameter of the welding head 1001.

[0033] The contact surface between the baffle 41 and the welding head 1001 is provided with a grinding sheet, so as to facilitate scraping off the welding slag adhered to the surface of the welding head 1001.

[0034] During welding, sparks tend to fly upward, causing welding slag to adhere to the welding head 1001. Over time, excessive welding slag adheres to the surface of the welding head 1001, making it rough and easily affecting the movement of the mounting plate 3 and the parts thereon. Therefore, a baffle 41 is provided. When each suction pipe 5 is close to the welding point, Figure 2 As shown, all the baffles 41 are combined to form a ring, thereby blocking sparks from flying upward and preventing welding slag from adhering to the surface of the welding head 1001; Figure 3 When the state is working, each baffle 41 is separated, and the sparks are easy to fly upward, and then the suction pipes 5 are transformed back to Figure 2 In the state shown, the electric push rod 101 is first controlled to retract to the limit position, so that the mounting plate 3 and the parts thereon are at the highest point, and then the electric reel 102 is controlled to release the pull rope 7, so that the suction tube 5 is in a vertical state, and then all the baffles 41 are combined to form a ring, the ring is close to the surface of the welding head 1001, and the contact surface between the baffle 41 and the welding head 1001 is provided with a grinding sheet, and then the electric push rod 101 is controlled to extend downward to push the mounting plate 3 and the parts thereon to move downward so that the grinding sheet of the baffle 41 contacts the surface of the welding head 1001, and the welding slag adhered to the surface of the welding head 1001 is scraped downward, and then the welding slag on the surface of the welding head 1001 is cleaned to avoid excessive welding slag adhering to make the surface of the welding head 1001 rough, which is easy to affect the movement of the mounting plate 3 and the parts thereon; when the suction tube 5 moves to Figure 2 After reaching the position shown, all the baffles 41 are combined to form a ring to continue to block the sparks from flying upwards.

[0035] Example 3 On the basis of Example 1 and Example 2, Figure 4 , Figure 6 , Figure 7 , Figure 8 As shown, it also includes a four-way joint 51 and a blowing pipe 52; each suction pipe 5 is connected to a four-way joint 51 on the upper side; each suction pipe 5 is fixedly connected to a blowing pipe 52; the blowing pipe 52 passes through the suction pipe 5 on the lower side and faces the welding head 1001; one inlet of the four-way joint 51 is connected to the suction pump pipeline, and the corresponding outlet is connected to the suction pipe 5; an blowing pump is arranged on the robot body 1; the other inlet of the four-way joint 51 is connected to the blowing pump, and the corresponding outlet is connected to the blowing pipe 52.

[0036] The outlet at the lower side of the air blowing pipe 52 is in a bundled shape to prevent sparks from flying and adhering to the air blowing pipe 52 and blocking the outlet.

[0037] When the welding head 1001 is welding a workpiece in a narrow space, the sparks generated by the welding are more likely to adhere to the welding head 1001 after the workpiece rebounds. After the welding head 1001 exits the narrow space, the suction tubes 5 can be controlled to return to a vertical state, and the baffles 41 can be combined into a ring to contact the surface of the welding head 1001, and then the suction tubes 5 can be moved down and close to the welding point again. During the downward movement of the suction tubes 5, the baffles 41 can scrape off the welding slag on the surface of the welding head 1001. During the process of the baffles 41 scraping off the welding slag downwards, the robot body 1 suspends movement and welding work, stops the generation of welding smoke, and avoids the upper The suction pipe 5 that has been folded cannot suck the scattered smoke, but some of the welding slag scraped off by the baffle 41 will fall into the unwelded area. When the welding head 1001 resumes welding work and welds to the area containing welding slag, the presence of welding slag will easily affect the welding quality and cause welding failure. Therefore, while the baffle 41 scrapes off the welding slag, the air pump is controlled to supply air to the blowing pipe 52 close to the unwelded area through the four-way joint 51, and the air outlets of all the blowing pipes 52 are facing the welding head 1001. Therefore, the air blown out of the blowing pipe 52 blows the welding slag scraped off by the baffle 41 to the welded area, thereby preventing the welding slag from falling into the unwelded area.

[0038] Although the present disclosure has been shown and described with reference to specific exemplary embodiments of the present disclosure, it should be understood by those skilled in the art that various changes in form and details may be made to the present disclosure without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents. Therefore, the scope of the present disclosure should not be limited to the above-mentioned embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A fully automatic welding robot based on machine vision, comprising a robot body (1), a fixing ring (2) and a visual camera (001); the moving end of the robot body (1) is connected to a welding head (1001); the side of the welding head (1001) away from the welding end is fixedly connected to the fixing ring (2); the moving end of the robot body (1) is equipped with a visual camera (001); the characteristics are: The robot also comprises a mounting plate (3), a connecting shaft (4), a suction pipe (5), a protective plate (6), a pull rope (7), an electric push rod (101) and an electric reel (102); the mounting plate (3) is connected to the fixing ring (2) via the electric push rod (101); three notches are provided on the mounting plate (3); a connecting shaft (4) is provided in each notch; the mounting plate (3) is annularly arranged around the welding head (1001); each connecting shaft (4) is rotatably connected to a suction pipe (5) via a torsion spring; a suction pump is provided on the robot body (1); the suction pump is connected to each suction pipe (5) via a hose; a plurality of suction ports (5001) are provided on the suction pipe (5); each suction pipe A plurality of protective sheets (6) covering the suction port (5001) are connected to the fixing ring (2), and the protective sheets (6) are arc-shaped; each suction tube (5) is connected to a rotating ring (6001); the rotating ring (6001) is fixedly connected to all the protective sheets (6) on the corresponding suction tube (5); a gas channel (6002) is formed between the protective sheets (6) and the corresponding suction tube (5); a pull ring (5002) is fixedly connected to a side of each suction tube (5) away from the connecting shaft (4); three electric reels (102) are connected to the fixing ring (2); a pull rope (7) is wound around each electric reel (102); and the free end of each pull rope (7) is respectively fixedly connected to a pull ring (5002).

2. A fully automatic welding robot based on machine vision according to claim 1, characterized in that: The invention also comprises a support assembly, which comprises a fixed block (21), a connecting block (22) and a roller (23); a plurality of fixed blocks (21) are fixedly connected in an annular arrangement on the lower side of the mounting plate (3); each fixed block (21) is slidably connected to a connecting block (22); an elastic member (2201) is provided between the fixed block (21) and the connecting block (22); and the roller (23) is rotatably connected to the connecting block (22).

3. A fully automatic welding robot based on machine vision according to claim 1, characterized in that: The invention also comprises a driving assembly, which comprises a first flat gear (31), a frameless motor (32) and a second flat gear (33); each suction pipe (5) is rotatably connected to a first flat gear (31); the first flat gear (31) is fixedly connected to all protective sheets (6) on the corresponding suction pipe (5); the fixing ring (2) is connected to the frameless motor (32); the output end of the frameless motor (32) is fixedly connected to the second flat gear (33); the second flat gear (33) and the first flat gear (31) are matched.

4. A fully automatic welding robot based on machine vision according to claim 3, characterized in that: It also includes a protection ring (34); each suction pipe (5) is rotatably connected to a protection ring (34) for preventing welding sparks and slag from splashing onto the first flat gear (31); the protection ring (34) is located at the lower side of the corresponding first flat gear (31); and the protection ring (34) is fixedly connected to the corresponding first flat gear (31).

5. A fully automatic welding robot based on machine vision according to claim 1, characterized in that: The edge of the protective sheet (6) is arranged at a bevel angle.

6. A fully automatic welding robot based on machine vision according to claim 5, characterized in that: The pull rope (7) is a steel wire rope.

7. A fully automatic welding robot based on machine vision according to claim 6, characterized in that: It also includes a baffle (41); a baffle (41) is fixedly connected to the lower side of each suction tube (5) for preventing sparks from flying upwards; all the baffles (41) are combined to form a circular ring; the inner diameter of the circular ring is the same as the outer diameter of the welding head (1001).

8. A fully automatic welding robot based on machine vision according to claim 7, characterized in that: A grinding sheet is provided on the contact surface between the baffle (41) and the welding head (1001).

9. A fully automatic welding robot based on machine vision according to claim 7, characterized in that: It also comprises a four-way joint (51) and an air blowing pipe (52); each suction pipe (5) is connected to a four-way joint (51) on its upper side; each suction pipe (5) is fixedly connected to a air blowing pipe (52); the air blowing pipe (52) is passed through the suction pipe (5) on its lower side and faces the welding head (1001); an inlet of the four-way joint (51) is connected to a suction pump pipeline, and a corresponding outlet is connected to the suction pipe (5); an air blowing pump is arranged on the robot body (1); another inlet of the four-way joint (51) is connected to the air blowing pump, and a corresponding outlet is connected to the air blowing pipe (52).

10. A fully automatic welding robot based on machine vision according to claim 9, characterized in that: The outlet at the lower side of the air blowing pipe (52) is in a bundled shape.

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