A fully automatic welding robot based on machine vision

Abstract

The present invention relates to the field of welding, and particularly to a fully automatic welding robot based on machine vision, which includes a robot body, a fixing ring, a vision camera, etc.; the mobile end of the robot body is connected with a welding head; a fixing ring is fixedly connected to the side of the welding head away from the welding end; a vision camera is installed on the mobile end of the robot body. The present invention realizes that by approaching the position of the welding point with each suction pipe, the smoke is sucked away from the source to the greatest extent, avoiding the upward dispersion of the smoke and blocking the shooting of the welding point by the vision camera, ensuring the normal progress of the welding work; at the same time, the heat generated by welding is sucked away along with the air, and the air with a lower temperature around the robot body flows towards the welding head, reducing the temperature around the welding head and preventing the vision camera from being damaged in a high-temperature environment for a long time; in addition, through the layout and design of the suction pipes, while ensuring the smoke suction effect, the vision camera's observation of the welding point is not blocked, and the practicability is strong.

Description

Technical Field

[0001] The present 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 drifts upward, blocking the shooting of the welding point by the vision component, and the actual welding situation cannot be known. Moreover, the welding smoke contains harmful substances to the human body. When the smoke dissipates, the harmful substances float invisibly in the air. When engineers debug the welding robot, they are easily inhaled into the harmful substances, damaging their physical health. In addition, a large amount of heat is released during the welding process, and the vision component is easily damaged when it is in a high-temperature environment for a long time. And the existing suction equipment is large in volume. When sucking near the welding point, it is easy to block the shooting of the welding point by the vision component and affect the movement of the welding robot. Moreover, some welding positions are narrow and only allow the welding component to enter. 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 a large amount of smoke generated during welding blocks the shooting of the welding point by the vision component and the actual welding situation cannot be known, and a large amount of heat is released during the welding process, and the vision component is easily damaged when it is in a high-temperature environment for a long time, the present invention provides a full-automatic welding robot based on machine vision.

[0004] The technical implementation solution of the present invention is as follows: A full-automatic welding robot based on machine vision includes a robot body, a fixing ring and a vision camera; a welding head is connected to the mobile end of the robot body; a fixing ring is fixedly connected to the side of the welding head away from the welding end; a vision camera for observing the welding situation of the welding head is installed on the mobile end of the robot body; it further includes a mounting plate, a connecting shaft, a suction pipe, a protective sheet, 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 commonly fixedly connected to a mounting plate; three notches are annularly formed on the mounting plate; a connecting shaft is arranged in each notch; the mounting plate annularly surrounds the welding head; a suction pipe is rotatably connected to each connecting shaft through a torsion spring; a suction pump is arranged on the robot body; the suction pump is respectively connected to each suction pipe through a hose; a plurality of suction ports are formed on the suction pipe; a plurality of protective sheets covering the suction ports are connected to each suction pipe, and the protective sheet is arc-shaped; a rotating ring is connected to each suction pipe; the rotating ring is fixedly connected to all the protective sheets on the corresponding suction pipe; a gas channel is formed between the protective sheet and the corresponding suction pipe; a pull ring is fixedly connected to the side of each suction pipe away from the connecting shaft; three electric reels are connected to the fixing ring; a pull rope is wound around each electric reel; the free end of each pull rope is respectively fixedly connected to a pull ring.

[0005] More preferably, it further includes a support assembly, and the support assembly includes a fixed block, a connecting block and a roller; a plurality of fixed blocks are fixedly connected in an annular distribution on the lower side of the mounting piece; a connecting block is slidably connected to each fixed block; an elastic member is arranged between the fixed block and the connecting block; a roller is rotatably connected to the connecting block.

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

[0007] More preferably, it further includes a protective ring; a protective ring for preventing welding sparks and slag from splashing onto the first spur gear is rotatably connected to each suction pipe; the protective ring is located below the corresponding first spur gear; the protective ring is fixedly connected to the corresponding first spur gear.

[0008] More preferably, the edge of the protective sheet is set as an oblique angle.

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

[0010] More preferably, it further includes a baffle; a baffle for preventing sparks from splashing upward is fixedly connected to the lower side of each suction pipe; 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 arranged on the contact surface between the baffle and the welding head.

[0012] More preferably, it further includes a four-way joint and a blowing pipe; a four-way joint is connected to the upper side of each suction pipe; a blowing pipe is fixedly connected to each suction pipe; the lower side of the blowing pipe penetrates out of the suction pipe and faces the welding head; one inlet of the four-way joint is communicated with the pipeline of the suction pump, and the corresponding outlet is communicated with the suction pipe; a blowing pump is arranged on the robot body; the other inlet of the four-way joint is communicated with the blowing pump, and the corresponding outlet is communicated with the blowing pipe.

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

[0014] Compared with the prior art, the present invention has the following advantages: In the present invention, each suction pipe is located below the welding head and close to the welding point, so as to draw away the smoke to the greatest extent from the source, avoid the smoke floating upward and blocking the shooting of the welding point by the vision camera, and ensure the normal progress of the welding work; at the same time, the heat generated by welding is drawn away along with the air, and the air with a lower temperature around the robot body flows towards the welding head, reducing the temperature around the welding head and avoiding the vision camera being easily damaged when it is in a high-temperature environment for a long time; in addition, through the layout and design of the suction pipes, while ensuring the smoke suction effect, the vision camera's observation of the welding point is not blocked, and the practicability is strong;

[0015] When the welding head penetrates into a narrow position for welding, the mounting plate and its parts move upward, away from the head of the welding head, for avoidance. At the same time, each suction pipe expands around, expanding the suction coverage area, thereby avoiding the decrease in the suction effect caused by the suction pipe being far away from the welding point;

[0016] Through the protective sheet, the corresponding suction port is blocked, avoiding a large amount of welding slag adhering to the suction pipe, causing the suction port to be blocked, and the problem that the flying sparks are easily sucked into the interior by the suction pipe;

[0017] By rotating the protective sheet, the welding slag adhered to the surface of the suction pipe is scraped off, avoiding excessive accumulation of the welding slag adhered to the surface of the suction pipe exposed between the protective sheets, and further blocking the gas passage;

[0018] Through the baffle, the upward splashing of sparks is blocked, and the welding slag adhered to the welding head is scraped off, avoiding excessive welding slag adhering to the surface of the welding head and becoming rough, which easily affects the movement of the mounting plate and its parts;

[0019] The air blown out by the air blowing pipe blows the welding slag scraped off by the baffle towards the welded area, avoiding the welding slag falling on the non-welded area. When the welding head welds to an area containing welding slag, the presence of the welding slag easily affects the welding quality and causes welding failure. Description of the Drawings

[0020] Figure 1 It is a three-dimensional structure schematic diagram of the full-automatic welding robot based on machine vision of the present invention;

[0021] Figure 2 It is a three-dimensional structure schematic diagram of the combination of the welding head, fixed ring, mounting plate, suction pipe and vision camera of the present invention;

[0022] Figure 3 It is a three-dimensional structure schematic diagram of the expanded state of the suction pipe of the present invention;

[0023] Figure 4 It is a top view of the combination of the welding head, mounting plate, connecting shaft and suction pipe of the present invention;

[0024] Figure 5 Schematic three-dimensional structure diagram of the installation piece, connecting shaft and support assembly combination of the present invention;

[0025] Figure 6 The first schematic three-dimensional structure diagram of the combination of the suction pipe, protective sheet, first spur gear, protective ring, baffle, four-way joint and blow pipe of the present invention;

[0026] Figure 7 The second schematic three-dimensional structure diagram of the combination of the suction pipe, protective sheet, first spur gear, protective ring, baffle, four-way joint and blow pipe of the present invention;

[0027] Figure 8 Cross-sectional view of the combination of the suction pipe and the protective sheet of the present invention;

[0028] Figure 9 For the present invention Figure 8 Enlarged view of part A in

[0029] Figure 10 Top view of the combination of the suction pipe and the protective sheet of the present invention;

[0030] Figure 11 Schematic three-dimensional structure diagram of the meshing state of the first spur gear and the second spur gear of the present invention.

[0031] The markings of each component in the drawings are as follows: 1 - robot body, 1001 - welding head, 2 - fixing ring, 3 - installation piece, 4 - connecting shaft, 5 - suction pipe, 5001 - suction port, 5002 - pull ring, 6 - protective sheet, 6001 - rotating ring, 6002 - gas passage, 7 - pull rope, 101 - electric push rod, 102 - electric reel, 21 - fixing block, 22 - connecting block, 2201 - elastic member, 23 - roller, 31 - first spur gear, 32 - frameless motor, 33 - second spur gear, 34 - protective ring, 41 - baffle, 51 - four-way joint, 52 - blow pipe, 001 - vision camera. Detailed implementation manners

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] Embodiment 1

[0034] As Figures 1 - 11As shown in the figure, a fully automatic welding robot based on machine vision includes a robot body 1, a fixing ring 2, and a vision camera 001; the mobile end of the robot body 1 is connected with a welding head 1001; on the side of the welding head 1001 away from the welding end, a fixing ring 2 is fixedly connected; the vision camera 001 is installed on the mobile end of the robot body 1;

[0035] It further includes a mounting plate 3, a connecting shaft 4, a suction pipe 5, a protective sheet 6, a pulling 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 commonly fixedly connected with a mounting plate 3; three notches are annularly formed on the mounting plate 3; a connecting shaft 4 is arranged in each notch; the mounting plate 3 annularly surrounds the welding head 1001; a suction pipe 5 is rotatably connected to each connecting shaft 4 through a torsion spring; a suction pump is arranged on the robot body 1; the suction pump is respectively connected to each suction pipe 5 through a hose; three vertical rows of suction ports 5001 are formed on the suction pipe 5; three protective sheets 6 are connected to each suction pipe 5, and the protective sheet 6 is arc-shaped; a rotating ring 6001 is rotatably connected to the lower side of each suction pipe 5; the rotating ring 6001 is fixedly connected with all the protective sheets 6 on the corresponding suction pipe 5; a gas channel 6002 is formed between the protective sheet 6 and the corresponding suction pipe 5; a pull ring 5002 is fixedly connected to the side of each suction pipe 5 away from the connecting shaft 4; three electric reels 102 are connected to the fixing ring 2; a pulling rope 7 is wound on each electric reel 102; the free end of each pulling rope 7 is respectively fixedly connected with a pull ring 5002.

[0036] It further includes a support assembly, and the support assembly includes a fixing block 21, a connecting block 22, and a roller 23; three fixing blocks 21 are annularly and fixedly connected to the lower side of the mounting plate 3; a connecting block 22 is slidably connected to each fixing block 21; an elastic member 2201 is arranged between the fixing block 21 and the connecting block 22; a roller 23 is rotatably connected to the connecting block 22; the elastic member 2201 is used to push the connecting block 22 to slide along the fixing block 21, so that the roller 23 is in close contact with the surface of the welding head 1001, ensuring the stability of the mounting plate 3 and the parts thereon.

[0037] It further includes a driving assembly, and the driving assembly includes a first flat gear 31, a frameless motor 32, and a second flat gear 33; a first flat gear 31 is rotatably connected to the upper side of each suction pipe 5; the first flat gear 31 is fixedly connected with all the 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 with a second flat gear 33; the second flat gear 33 and the first flat gear 31 are adapted to each other.

[0038] It further includes a protective ring 34; a protective ring 34 is rotatably connected to the upper side of each suction pipe 5; the protective ring 34 is located below the corresponding first flat gear 31; the protective ring 34 is fixedly connected to the corresponding first flat gear 31.

[0039] The edge of the protective piece 6 is set at an oblique angle; it is convenient to scrape off welding slag.

[0040] The pull rope 7 is a steel wire rope; it improves the service life.

[0041] During the welding process, a large amount of smoke is easily generated at the welding point. The smoke drifts upward, blocking the shooting of the welding point by the vision element, and the actual welding situation cannot be known. Moreover, the welding smoke contains harmful substances to the human body. When the smoke dissipates, the harmful substances float invisibly in the air. When engineers debug the welding robot, they are easily inhaled harmful substances, damaging their physical health. In addition, a large amount of heat is released during the welding process, and the vision element is easily damaged when it is in a high-temperature environment for a long time.

[0042] When the present invention performs welding work, first, the vision camera 001 scans the welded part to generate a welding path, and then an instruction is sent 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 through the pipeline has suction force. At this time, as Figure 2 shown, each suction pipe 5 surrounds the lower part outside the welding head 1001, close to the welding point position, so as to suck away the smoke from the source to the greatest extent, avoid the smoke drifting upward and blocking the shooting of the welding point by the vision camera 001, and ensure the normal progress of welding work; at the same time, through suction, the heat generated by welding is taken away with the air, reducing the temperature around the welding head 1001 and avoiding the vision camera 001 being easily damaged when it is in a high-temperature environment for a long time; in addition, the suction pipes 5 are annularly distributed, and the vision camera 001 is directly opposite the gap between two adjacent suction pipes 5, which can effectively capture the welding situation of the welding head 1001. Therefore, through the layout and design of the suction pipes 5, while ensuring the suction effect on the smoke, it does not block the vision camera 001 from observing the welding point, and has strong practicability.

[0043] When there are some welding positions that are narrow and only allow the welding head 1001 to enter, control the robot body 1 to make the welding head 1001 penetrate into the welding position for welding. At the same time, control the electric push rod 101 to contract, driving the mounting plate 3 and its parts to move upward, away from the head of the welding head 1001, for avoidance. As the suction pipe 5 moves away from the welding point at the head of the welding head 1001, the suction effect also decreases accordingly. The welding smoke drifts upward and spreads around at the same time, which is easy to block the shooting of the vision camera 001. Therefore, while the mounting plate 3 moves upward, control the electric reel 102 to reel in the pull rope 7, and the pull rope 7 pulls the corresponding pull ring 5002, so that the suction pipe 5 opens outward with the connecting shaft 4 as the rotation point, as Figure 3As shown in the figure, the suction pipes 5 extend around, expanding the suction coverage area, so as to ensure that the suction pipes 5 can suck the diffused smoke and avoid the excessive diffusion of the smoke from blocking the shooting of the vision camera 001. When the welding head 1001 performs welding work 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. Under the action of the torsion spring, the suction pipes 5 return to the vertical state and approach the welding point for suction work.

[0044] In addition, the electric components of the present invention are all arranged at a height far from the welding point of the welding head 1001, so as to avoid the higher air temperature closer to the welding point. If the electric components are too close, they are easily damaged in a high-temperature environment for a long time.

[0045] 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, ensuring the stability of the mounting plate 3 and the parts thereon. During the up-and-down movement of the mounting plate 3, the roller 23 rolls on the surface of the welding head 1001, reducing the frictional resistance.

[0046] During the welding process, a large amount of sparks splash, and after the sparks cool down, they form adhesive welding slag. If a large amount of welding slag adheres to the suction pipe 5, it is easy to cause blockage of the suction port 5001, resulting in a decline in the suction effect. At the same time, the splashed sparks are sucked into the interior of the suction pipe 5 and are difficult to clean, and the sparks follow the sucked smoke into the suction pump, which is easy to cause damage to the suction pump. Therefore, a protective sheet 6 is provided on the suction pipe 5 to block the corresponding suction port 5001, and the smoke is sucked into the suction pipe 5 through the gas passage 6002 between the suction pipe 5 and the protective sheet 6 and then sucked away, thereby avoiding the blockage of the suction port 5001 caused by the welding slag and the problem that the splashed sparks are easily sucked into the interior by the suction pipe 5.

[0047] Further, compared with the suction direction of the suction port 5001 being towards the circumference of the suction pipe 5, the gas channel 6002 is designed to be opened along the circumferential direction of the suction pipe 5. The spark welding slag that splashes and rebounds is not easily directly introduced into the gas channel 6002. Furthermore, it is more difficult for the gas channel 6002 to be blocked by welding slag. However, during long-term welding, there is still a situation where too much welding slag adheres to the surface of the suction pipe 5 exposed between the protective sheets 6, and then the gas channel 6002 is blocked. Therefore, when it is observed by the vision camera 001 that there is a risk that the welding slag adhering to the surface of the suction pipe 5 exposed between the protective sheets 6 blocks the gas channel 6002, the electric push rod 101 is controlled to contract, driving the mounting plate 3 and the parts thereon to move upward. The electric reel 102 synchronously controls the length of the pull rope 7, so that the suction pipe 5 is in a vertical state until the electric push rod 101 reaches the contraction limit. The first flat gear 31 on each suction pipe 5 will mesh with the second flat gear 33. After that, the frameless motor 32 is controlled to operate. The frameless motor 32 drives the second flat gear 33 to rotate. The second flat gear 33 drives the first flat gear 31. The first flat gear 31 drives the corresponding protective sheet 6 and the rotating ring 6001 to rotate on the suction pipe 5. Furthermore, the vertical edge of the rotating protective sheet 6 scrapes off the welding slag adhering to the surface of the suction pipe 5, preventing too much welding slag from accumulating on the surface of the suction pipe 5 exposed between the protective sheets 6 and then blocking the gas channel 6002; while scraping off the welding slag, the suction pump is controlled to reverse and blow air. The air is blown out through the suction port 5001 and the gas channel 6002, blowing the scraped welding slag away from the suction pipe 5.

[0048] It should be noted that during the process of the first flat gear 31 moving upward and meshing with the second flat gear 33, since the connecting shaft 4 is higher than the first flat gear 31, it will reach the same height as the second flat gear 33 earlier than the first flat gear 31. However, the area occupied by the connecting shaft 4 is smaller than the meshing area of the first flat gear 31 and the second flat gear 33. Therefore, during the process of the first flat gear 31 continuing to move upward and meshing with the second flat gear 33, the connecting shaft 4 does not contact the second flat gear 33 and does not affect the meshing of the first flat gear 31 and the second flat gear 33.

[0049] Embodiment 2

[0050] On the basis of Embodiment 1, as Figures 2 - 4 and Figures 6 - 8 shown, it further includes a baffle 41; a baffle 41 is fixedly connected to the lower side of each suction pipe 5; all the 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.

[0051] A grinding sheet is provided on the contact surface between the baffle 41 and the welding head 1001; it is convenient to scrape off the welding slag adhering to the surface of the welding head 1001.

[0052] During the welding process, sparks are likely to splash upward, causing welding slag to adhere to the welding head 1001. Over time, excessive adhesion of welding slag makes the surface of the welding head 1001 rough, which easily affects the movement of the mounting plate 3 and the parts thereon. Therefore, a baffle 41 is provided. When each suction pipe 5 is in a state close to the welding point, as Figure 2 shown, all the baffles 41 combine to form a ring, thereby blocking the upward splash of sparks and preventing welding slag from adhering to the surface of the welding head 1001; when each suction pipe 5 is in the Figure 3 state for operation, the baffles 41 separate, and sparks are likely to splash upward. Then, when each suction pipe 5 returns to the Figure 2 shown state, first control the electric push rod 101 to contract to the limit position. Then, the mounting plate 3 and the parts thereon are at the highest point. After that, control the electric reel 102 to release the pull rope 7, so that the suction pipe 5 is in a vertical state. Then, all the baffles 41 combine to form a ring that closely adheres to the surface of the welding head 1001. A grinding sheet is provided on the contact surface between the baffle 41 and the welding head 1001. Then, control the electric push rod 101 to extend downward, pushing 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, scraping the welding slag adhered to the surface of the welding head 1001 downward, thereby cleaning the welding slag on the surface of the welding head 1001 and preventing excessive adhesion of welding slag from making the surface of the welding head 1001 rough, which easily affects the movement of the mounting plate 3 and the parts thereon; when the suction pipe 5 moves to the Figure 2 shown position, all the baffles 41 combine to form a ring to continue blocking the upward splash of sparks.

[0053] Embodiment 3

[0054] Based on Embodiment 1 and Embodiment 2, as Figure 4 , Figure 6 , Figure 7 , Figure 8 shown, it further includes a four-way joint 51 and a blowing pipe 52; a four-way joint 51 is connected to the upper side of each suction pipe 5; a blowing pipe 52 is fixedly connected inside each suction pipe 5; the lower side of the blowing pipe 52 penetrates out of the suction pipe 5 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; a blowing pump is provided 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.

[0055] The lower side outlet of the blowing pipe 52 is in a flared shape; to prevent sparks from splashing and adhering to the blowing pipe 52 and blocking the outlet.

[0056] 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.

[0057] 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 fixing ring (2) is connected to the mounting plate (3) via the electric push rod (101); three mounting plates (3) are provided, and the three mounting plates (3) are arranged in a ring shape around the welding head (1001), and a connecting shaft (4) is provided between two adjacent mounting plates (3); each connecting shaft (4) is rotatably connected to a suction pipe (5) via a torsion spring; the connecting shaft (4) is used to realize the rotatable installation of the suction pipe (5); a suction pump is provided on the robot body (1); the suction pump is connected to each suction pipe (5) via a hose; the suction pipe (5) is provided with a A plurality of suction ports (5001); each suction tube (5) is connected to a plurality of protective sheets (6) covering the suction ports (5001), the protective sheets (6) being arc-shaped; each suction tube (5) is connected to a rotating ring (6001); the rotating ring (6001) is fixedly connected to all 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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