Weld joint identification and tracking device and method based on machine vision

Abstract

The invention discloses a welding seam recognition and tracking device and method based on machine vision, and belongs to the technical field of welding seam tracking. The welding seam recognition and tracking device comprises a mechanical arm and a machine recognition module, a connecting shaft is arranged at one end of the mechanical arm, a welding gun is fixedly mounted on the outer wall of the connecting shaft, and a mounting plate and a partition plate are fixedly mounted on the side wall of the welding gun; the top surface of the mounting plate is provided with a stroke groove, the inner wall of the stroke groove is provided with a quick-mounting assembly, the bottom of the mounting plate is provided with a focusing adjusting assembly, and the focusing adjusting assembly is provided with a supporting chassis; according to the mechanical arm, the quick assembly assembly is arranged, through the design, quick assembly and disassembly of the machine vision device on the mechanical arm are effectively achieved, operation steps are simplified, workers do not need to conduct multi-step operation, the overhaul efficiency of the machine vision device is greatly improved, and the use effect is good.

Description

Technical Field

[0001] The invention belongs to the technical field of weld seam tracking, and in particular relates to a weld seam identification and weld seam tracking device and method based on machine vision. Background Art

[0002] Welding is a processing technology, which is also called fusion. Welding is a manufacturing process and technology that joins metals or thermoplastic materials by heating, high temperature or high pressure. Welding can be divided into gas welding, resistance welding and arc welding.

[0003] With the development of science and technology today, industrial machine welding has gradually replaced manual welding. In order to make industrial robots more accurate during welding operations, machine vision mechanisms are usually installed on industrial robotic arms to identify and track welds. However, the installation of most machine vision devices on industrial robotic arms is cumbersome and requires multi-step operations, which greatly reduces the efficiency when repairing the machine vision devices. At the same time, traditional machine vision installation mechanisms are also unable to adjust the focus distance of the machine vision devices, which affects the subsequent identification and tracking of welds, resulting in poor use effects. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that with the development of current science and technology, industrial machine welding gradually replaces manual welding. In order to make industrial robots more accurate in welding operations, machine vision mechanisms are usually installed on industrial robotic arms to identify and track welds. However, the installation method of most machine vision devices on industrial robotic arms is relatively cumbersome and requires multi-step operations, which greatly reduces the efficiency when repairing the machine vision devices. At the same time, traditional machine vision installation mechanisms are also unable to adjust the focus distance of the machine vision devices, thereby affecting the subsequent identification and tracking of welds, resulting in poor use effects. Therefore, a weld identification and weld tracking device and method based on machine vision are proposed.

[0005] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a weld recognition and weld tracking device based on machine vision, comprising a robotic arm and a machine recognition module, a connecting shaft is provided at one end of the robotic arm, a welding gun is fixedly installed on the outer wall of the connecting shaft, a mounting plate and a partition are fixedly installed on the side wall of the welding gun, a travel groove is provided on the top surface of the mounting plate, a quick-release assembly is provided on the inner wall of the travel groove, a focus adjustment assembly is provided at the bottom of the mounting plate, a supporting chassis is provided on the focus adjustment assembly, and a seam cleaning assembly is provided at the bottom of the partition.

[0006] As a further description of the above technical solution: The quick-release assembly includes a driven column, which is rotatably mounted on the inner wall of the mounting plate, a first driven bevel gear is fixedly mounted on the outer wall of the driven column, threaded rods are fixedly mounted on both ends of the driven column, and a threaded barrel is threadedly mounted on the outer wall of the threaded rod.

[0007] As a further description of the above technical solution: A limit block is fixedly installed on the outer wall of the threaded barrel, and the threaded barrel and the limit block pass through the through holes set on both sides of the mounting plate. A clamping plate is fixedly installed on one end of the threaded barrel, a buffer layer is set on the outer wall of the clamping plate, and a gear is rotatably installed on the inner wall of the top of the mounting plate.

[0008] As a further description of the above technical solution: A driving column is fixedly installed at the bottom of the gear, and a first driving bevel gear is fixedly installed at the bottom end of the driving column. The first driving bevel gear is meshingly connected with the first driven bevel gear. A rack is slidably installed on the inner wall at the top of the mounting plate, and the rack is meshingly connected with the gear.

[0009] As a further description of the above technical solution: A connecting rod is fixedly installed on the outer wall of the rack, a push block is fixedly installed on the top of the connecting rod, the connecting rod is slidably connected to the inner wall of the travel groove, an integrated plate is fixedly installed on one end of the rack, a telescopic rod is fixedly installed on the outer wall of the integrated plate, the other end of the telescopic rod is fixedly installed on the inner wall of the mounting plate, a spring is sleeved on the outer wall of the telescopic rod, one end of the spring is fixedly installed on the outer wall of the integrated plate, and the other end of the spring is fixedly installed on the inner wall of the mounting plate.

[0010] As a further description of the above technical solution: The focus adjustment assembly includes a first telescopic plate and a second telescopic plate. The top of the first telescopic plate is provided with a groove. A bottom rod is rotatably mounted on the inner wall of the groove. A threaded column is fixedly mounted on the top of the bottom rod.

[0011] As a further description of the above technical solution: A second driven bevel gear is fixedly mounted on the outer wall of the bottom rod, a second driving bevel gear is rotatably mounted on the side wall of the groove, the second driving bevel gear is meshedly connected with the second driven bevel gear, and a connecting rod is fixedly mounted on the outer wall of the second driving bevel gear.

[0012] As a further description of the above technical solution: A turntable is fixedly mounted on the other end of the connecting rod, the top of the second telescopic plate is fixedly mounted on the bottom of the mounting plate, a threaded hole is provided at the bottom of the second telescopic plate, the threaded column is threadedly mounted on the inner wall of the threaded hole, and a supporting chassis is fixedly mounted on the bottom of the first telescopic plate.

[0013] As a further description of the above technical solution: The seam cleaning assembly comprises a cleaning connecting rod, which is fixedly mounted on the bottom of the partition, a cleaning block is fixedly mounted on the middle end of the bottom of the cleaning connecting rod, and seam cleaning brushes are arranged on the outer walls of the cleaning connecting rod and the cleaning block.

[0014] The present invention also discloses a method for using a weld seam identification and weld seam tracking device based on machine vision, comprising the following steps: S1, first push the push block, the push block drives the rack to move through the connecting rod, the rack drives the integrated plate to move, the integrated plate drives one end of the spring to stretch it, so that it forms a stretched state, the connecting rod moves on the inner wall of the stroke groove set on the top surface of the mounting plate, the rack and the gear are meshed and connected, so that the rack drives the gear to rotate, and the gear rotates while driving the driving column, the driving column drives the first driving bevel gear to rotate, the first driving bevel gear and the first driven bevel gear, so that the first driving bevel gear synchronously drives the first driven bevel gear to rotate, and the first driven bevel gear rotates while driving the driven column, and both ends of the driven column are fixedly installed with threaded rods; S2, the driven column rotates while driving the threaded rod to rotate, a threaded barrel is threadedly installed on the outer wall of the threaded rod, a limit block is arranged on the outer wall of the threaded barrel, the limit block and the threaded barrel penetrate the through hole arranged on the side wall of the mounting plate, so that the threaded rod rotates while driving the threaded barrel to move on its outer wall, so as to prevent the threaded barrel from being driven to rotate by the threaded rod, and the displacement of the threaded barrel drives the clamping plate to move while the clamping plate is displaced, so that the clamping plate is unfolded, and then the machine recognition module is placed on the supporting chassis, and the push block is released, and the push block is reset by the elastic force generated by the spring, and the clamping plate is reset in the same way, and the machine recognition module is clamped, and the buffer layer arranged on the clamping plate buffers the outer wall of the machine recognition module; S3. Before the machine identification module is adjusted, the turntable is rotated. The turntable drives the connecting rod to rotate while the turntable rotates. The connecting rod drives the second driving bevel gear to rotate synchronously. The second driving bevel gear is meshed with the second driven bevel gear, so that the second driving bevel gear drives the second driven bevel gear to rotate. The second driven bevel gear drives the bottom rod to rotate while the second driven bevel gear rotates. The bottom rod drives the threaded column to rotate while the bottom rod rotates. A threaded hole is provided at the bottom of the second telescopic plate. The threaded column is threadedly connected to the inner wall of the threaded hole at its bottom. The threaded column drives the second telescopic plate to move while the threaded column rotates. The height of the supporting chassis can be adjusted by adjusting the number of turns and direction of the turntable, thereby achieving the focus of the machine identification module. S4. When the welding gun is performing welding operation on the weld, the welding gun pushes the partition to move. A cleaning connecting rod is fixedly installed at the bottom of the partition. A cleaning block is arranged at the middle end of the bottom of the cleaning connecting rod. When the partition moves, the cleaning block is driven to move on the inner wall of the weld. Cleaning brushes are arranged on the outer walls of the cleaning connecting rod and the cleaning block. The cleaning block drives the cleaning brush to clean the weld, and the cleaning connecting rod drives the cleaning brush to clean the metal surface.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In the present invention, a quick-install component is provided, and the push block is first pushed, and the push block drives the rack to move through the connecting rod, and the rack drives the integrated plate to move, and the integrated plate drives one end of the spring to stretch it to form a stretched state, and the connecting rod moves on the inner wall of the stroke groove provided on the top surface of the mounting plate, and the rack is meshed with the gear, so that the rack drives the gear to rotate, and the gear rotates while driving the driving column to rotate, and the driving column drives the first driving bevel gear to rotate, and the first driving bevel gear and the first driven bevel gear make the first driving bevel gear synchronously drive the first driven bevel gear to rotate, and the first driven bevel gear rotates while driving the driven column to rotate, and threaded rods are fixedly installed at both ends of the driven column, and the driven column rotates while driving the threaded rod to rotate, and the outer wall of the threaded rod is threadedly installed with A threaded barrel, a limit block is arranged on the outer wall of the threaded barrel, the limit block and the threaded barrel pass through the through hole arranged on the side wall of the mounting plate, so that the threaded rod rotates and at the same time drives the threaded barrel to move on its outer wall, to prevent the threaded barrel from being driven to rotate by the threaded rod, and the displacement of the threaded barrel drives the splint to move at the same time, so that the splint is unfolded, and then the machine recognition module is placed on the supporting chassis, and the push block is released, and the push block is reset by the elastic force generated by the spring. Similarly, the splint is reset and the machine recognition module is clamped. The buffer layer arranged on the splint buffers the outer wall of the machine recognition module. Through this design, the machine vision device can be quickly installed and disassembled on the robotic arm, which simplifies the operation steps and does not require the staff to perform multi-step operations, which greatly improves the maintenance efficiency of the machine vision device and has a good use effect.

[0016] 2. In the present invention, a focus adjustment component is provided. Before the machine identification module is adjusted, the turntable is rotated. The rotation of the turntable drives the connecting rod to rotate, and the connecting rod drives the second driving bevel gear to rotate synchronously. The second driving bevel gear is meshed with the second driven bevel gear, so that the second driving bevel gear drives the second driven bevel gear to rotate. The rotation of the second driven bevel gear drives the bottom rod to rotate. The rotation of the bottom rod drives the threaded column to rotate. A threaded hole is provided at the bottom of the second telescopic plate. The threaded column and the inner wall of the threaded hole at its bottom are threadedly connected. The rotation of the threaded column drives the second telescopic plate to move. The height of the supporting chassis can be adjusted by adjusting the number and direction of rotation of the turntable, thereby realizing the focusing of the machine identification module. Through this design, the machine identification device can be effectively focused quickly, thereby greatly improving the accuracy of weld identification and weld tracking, and the use effect is good.

[0017] 3. In the present invention, a seam cleaning component is provided, and when the welding gun is performing welding operation on the weld, the welding gun pushes the partition to move, and a cleaning connecting rod is fixedly installed on the bottom of the partition, and a cleaning block is provided at the middle end of the bottom of the cleaning connecting rod. When the partition moves, the cleaning block is driven to move on the inner wall of the weld, and the outer walls of the cleaning connecting rod and the cleaning block are provided with seam cleaning brushes. The cleaning block drives the seam cleaning brush to clean the weld, and the cleaning connecting rod drives the seam cleaning brush to clean the metal surface. Through this design, the dust inside the weld is effectively cleaned, thereby further improving the welding effect of the weld, and the use effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the weld recognition and weld tracking device based on machine vision.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the welding gun in the weld seam recognition and weld seam tracking device based on machine vision.

[0020] Figure 3 The schematic diagram is a combined structure of a quick-install component, a mounting plate and a focus adjustment component in a weld recognition and weld tracking device based on machine vision.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the quick-assembly component in the weld recognition and weld tracking device based on machine vision.

[0022] Figure 5 This is a schematic diagram of the decomposed structure of the quick-assembly components in the weld recognition and weld tracking device based on machine vision.

[0023] Figure 6 The schematic diagram of the decomposed structure of the focus adjustment component in the weld recognition and weld tracking device based on machine vision.

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure of the threaded column in the weld recognition and weld tracking device based on machine vision.

[0025] Figure 8 The figure is a schematic diagram of the horizontal decomposition structure of the focus adjustment component in the weld recognition and weld tracking device based on machine vision.

[0026] Fig. 9 This is a schematic diagram of the enlarged structure of point A in the weld recognition and weld tracking device based on machine vision.

[0027] Legend: 1. Robotic arm; 2. Welding gun; 3. Partition; 4. Machine identification module; 5. Mounting plate; 6. Quick-release assembly; 61. Push block; 62. Telescopic rod; 63. Spring; 64. Gear; 65. Rack; 66. Clamp; 67. Buffer layer; 68. Driving column; 69. First driving bevel gear; 610. First driven bevel gear; 611. Driven column; 612. Threaded rod; 613. Threaded barrel; 614. Integrated board; 7. Seam cleaning assembly; 71. Cleaning connecting rod; 72. Cleaning block; 73. Seam cleaning brush; 8. Connecting shaft; 9. Focus adjustment assembly; 91. First telescopic plate; 92. Groove; 93. Second telescopic plate; 94. Threaded column; 95. Bottom rod; 96. Second driven bevel gear; 97. Second driving bevel gear; 98. Connecting rod; 99. Turntable; 910. Threaded hole; 10. Support chassis. 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] See also Figure 1-9 The present invention provides a technical solution: a weld seam identification and tracking device based on machine vision, comprising a mechanical arm 1 and a machine identification module 4, wherein a connecting shaft 8 is provided at one end of the mechanical arm 1, a welding gun 2 is fixedly mounted on the outer wall of the connecting shaft 8, a mounting plate 5 and a partition 3 are fixedly mounted on the side wall of the welding gun 2, a travel groove is provided on the top surface of the mounting plate 5, a quick-install component 6 is provided on the inner wall of the travel groove, a focus adjustment component 9 is provided at the bottom of the mounting plate 5, a supporting chassis 10 is provided on the focus adjustment component 9, and a seam cleaning component 7 is provided at the bottom of the partition 3; The quick-release assembly 6 includes a driven column 611, which is rotatably mounted on the inner wall of the mounting plate 5, and a first driven bevel gear 610 is fixedly mounted on the outer wall of the driven column 611. Threaded rods 612 are fixedly mounted on both ends of the driven column 611, and a threaded cylinder 613 is threadedly mounted on the outer wall of the threaded rod 612. A limit block is fixedly mounted on the outer wall of the threaded cylinder 613, and the threaded cylinder 613 and the limit block pass through the through holes provided on both sides of the mounting plate 5. A clamping plate 66 is fixedly mounted on one end of the threaded cylinder 613, and a buffer layer 67 is provided on the outer wall of the clamping plate 66. A gear 64 is rotatably mounted on the inner wall of the top of the mounting plate 5, and a driving column 68 is fixedly mounted on the bottom of the gear 64. The bottom end of the driving column 68 is fixedly mounted with a first driving Bevel gear 69, the first driving bevel gear 69 is meshingly connected with the first driven bevel gear 610, a rack 65 is slidably installed on the inner wall at the top of the mounting plate 5, the rack 65 is meshingly connected with the gear 64, a connecting rod is fixedly installed on the outer wall of the rack 65, a push block 61 is fixedly installed on the top of the connecting rod, the connecting rod is slidably connected with the inner wall of the stroke groove, one end of the rack 65 is fixedly installed with an integrated plate 614, a telescopic rod 62 is fixedly installed on the outer wall of the integrated plate 614, the other end of the telescopic rod 62 is fixedly installed on the inner wall of the mounting plate 5, a spring 63 is sleeved on the outer wall of the telescopic rod 62, one end of the spring 63 is fixedly installed on the outer wall of the integrated plate 614, and the other end of the spring 63 is fixedly installed on the inner wall of the mounting plate 5; The specific implementation example is as follows: first push the push block 61, the push block 61 drives the rack 65 to move through the connecting rod, the rack 65 drives the integrated plate 614 to move, the integrated plate 614 drives one end of the spring 63 to stretch, so that it forms a stretched state, the connecting rod moves on the inner wall of the stroke groove set on the top surface of the mounting plate 5, the rack 65 is meshed with the gear 64, so that the rack 65 drives the gear 64 to rotate, and the gear 64 rotates while driving the driving column 68 to rotate, the driving column 68 drives the first driving bevel gear 69 to rotate, the first driving bevel gear 69 and the first driven bevel gear 610, so that the first driving bevel gear 69 synchronously drives the first driven bevel gear 610 to rotate, and the first driven bevel gear 610 rotates while driving the driven column 611 to rotate, and both ends of the driven column 611 are fixedly installed with threaded rods 612, the driven column 611 rotates while driving the threaded rod 612 to rotate, a threaded tube 613 is threadedly installed on the outer wall of the threaded rod 612, a limit block is arranged on the outer wall of the threaded tube 613, the limit block and the threaded tube 613 pass through the through hole arranged on the side wall of the mounting plate 5, so that the threaded rod 612 rotates while driving the threaded tube 613 to move on its outer wall, and the threaded tube 613 is prevented from being driven to rotate by the threaded rod 612, and the displacement of the threaded tube 613 drives the clamping plate 66 to move, so that the clamping plate 66 is unfolded, and then the machine identification module 4 is placed on the supporting chassis 10, and the push block 61 is released, and the push block 61 is reset by the elastic force generated by the spring 63, and similarly, the clamping plate 66 is reset, and the machine identification module 4 is clamped, and the buffer layer 67 arranged on the clamping plate 66 buffers the outer wall of the machine identification module 4.

[0030] The focus adjustment assembly 9 includes a first telescopic plate 91 and a second telescopic plate 93. The top of the first telescopic plate 91 is provided with a groove 92. A bottom rod 95 is rotatably mounted on the inner wall of the groove 92. A threaded column 94 is fixedly mounted on the top of the bottom rod 95. A second driven bevel gear 96 is fixedly mounted on the outer wall of the bottom rod 95. A second driving bevel gear 97 is rotatably mounted on the side wall of the groove 92. The second driving bevel gear 97 is meshingly connected with the second driven bevel gear 96. A connecting rod 98 is fixedly mounted on the outer wall of the second driving bevel gear 97. A rotating disk 99 is fixedly mounted on the other end of the connecting rod 98. The top of the second telescopic plate 93 is fixedly mounted on the bottom of the mounting plate 5. A threaded hole 910 is provided at the bottom of the second telescopic plate 93. The threaded column 94 is threadedly mounted on the inner wall of the threaded hole 910. The bottom of the first telescopic plate 91 is fixedly mounted with a supporting chassis 10. The specific implementation example is as follows: before the machine identification module 4, the turntable 99 is rotated, and the rotation of the turntable 99 drives the connecting rod 98 to rotate, and the connecting rod 98 drives the second driving bevel gear 97 to rotate synchronously, and the second driving bevel gear 97 is meshed with the second driven bevel gear 96, so that the second driving bevel gear 97 drives the second driven bevel gear 96 to rotate, and the rotation of the second driven bevel gear 96 drives the bottom rod 95 to rotate, and the rotation of the bottom rod 95 drives the threaded column 94 to rotate, and the bottom of the second telescopic plate 93 is provided with a threaded hole 910, and the threaded column 94 is threadedly connected with the inner wall of the bottom thereof with the threaded hole 910, and the rotation of the threaded column 94 drives the second telescopic plate 93 to move, and the height of the supporting chassis 10 can be adjusted by adjusting the number of turns and direction of the turntable 99, thereby realizing the focusing of the machine identification module 4.

[0031] The seam cleaning assembly 7 includes a cleaning connecting rod 71, which is fixedly mounted on the bottom of the partition 3, a cleaning block 72 is fixedly mounted on the middle end of the bottom of the cleaning connecting rod 71, and seam cleaning brushes 73 are arranged on the outer walls of the cleaning connecting rod 71 and the cleaning block 72; The specific implementation example is as follows: when the welding gun 2 is performing welding operation on the weld, the welding gun 2 pushes the partition 3 to move, a cleaning connecting rod 71 is fixedly installed at the bottom of the partition 3, a cleaning block 72 is arranged at the middle end of the bottom of the cleaning connecting rod 71, and the partition 3 moves while driving the cleaning block 72 to move on the inner wall of the weld, and the outer walls of the cleaning connecting rod 71 and the cleaning block 72 are both provided with a cleaning brush 73, the cleaning block 72 drives the cleaning brush 73 to clean the weld, and the cleaning connecting rod 71 drives the cleaning brush 73 to clean the metal surface.

[0032] The present invention also discloses a method for using a weld seam identification and weld seam tracking device based on machine vision, comprising the following steps: S1, first push the push block 61, the push block 61 drives the rack 65 to move through the connecting rod, the rack 65 drives the integrated plate 614 to move, the integrated plate 614 drives one end of the spring 63 to stretch, so that it forms a stretched state, the connecting rod moves on the inner wall of the stroke groove set on the top surface of the mounting plate 5, the rack 65 is meshed with the gear 64, so that the rack 65 drives the gear 64 to rotate, and the gear 64 rotates while driving the driving column 68 to rotate, the driving column 68 drives the first driving bevel gear 69 to rotate, the first driving bevel gear 69 and the first driven bevel gear 610, so that the first driving bevel gear 69 synchronously drives the first driven bevel gear 610 to rotate, and the first driven bevel gear 610 rotates while driving the driven column 611 to rotate, and both ends of the driven column 611 are fixedly installed with threaded rods 612; S2, the driven column 611 rotates while driving the threaded rod 612 to rotate, a threaded tube 613 is threadedly installed on the outer wall of the threaded rod 612, a limit block is arranged on the outer wall of the threaded tube 613, the limit block and the threaded tube 613 pass through the through hole arranged on the side wall of the mounting plate 5, so that the threaded rod 612 rotates while driving the threaded tube 613 to move on its outer wall, so as to prevent the threaded tube 613 from being driven to rotate by the threaded rod 612, and the displacement of the threaded tube 613 while driving the clamping plate 66 to move, so that the clamping plate 66 is unfolded, and then the machine identification module 4 is placed on the supporting chassis 10, and the push block 61 is released, and the push block 61 is reset by the elastic force generated by the spring 63, and the clamping plate 66 is reset in the same way, and the machine identification module 4 is clamped, and the buffer layer 67 arranged on the clamping plate 66 buffers the outer wall of the machine identification module 4; S3. Before the machine identification module 4 is adjusted, the turntable 99 is rotated. The turntable 99 drives the connecting rod 98 to rotate while the turntable 99 rotates. The connecting rod 98 drives the second driving bevel gear 97 to rotate synchronously. The second driving bevel gear 97 is meshed with the second driven bevel gear 96, so that the second driving bevel gear 97 drives the second driven bevel gear 96 to rotate. The second driven bevel gear 96 drives the bottom rod 95 to rotate while the bottom rod 95 drives the threaded column 94 to rotate. The bottom of the second telescopic plate 93 is provided with a threaded hole 910. The threaded column 94 is threadedly connected with the inner wall of the bottom of the second telescopic plate 93. The threaded column 94 drives the second telescopic plate 93 to move while the threaded hole 910 is provided. The height of the supporting chassis 10 can be adjusted by adjusting the number of turns and direction of the turntable 99, thereby realizing the focusing of the machine identification module 4. S4. When the welding gun 2 is performing welding operation on the weld, the welding gun 2 pushes the partition 3 to move. A cleaning connecting rod 71 is fixedly installed at the bottom of the partition 3. A cleaning block 72 is provided at the middle end of the bottom of the cleaning connecting rod 71. When the partition 3 moves, it drives the cleaning block 72 to move on the inner wall of the weld. Cleaning brushes 73 are provided on the outer walls of the cleaning connecting rod 71 and the cleaning block 72. The cleaning block 72 drives the cleaning brush 73 to clean the weld, and the cleaning connecting rod 71 drives the cleaning brush 73 to clean the metal surface.

[0033] Working principle: push the push block 61 first, the push block 61 drives the rack 65 to move through the connecting rod, the rack 65 drives the integrated plate 614 to move, the integrated plate 614 drives one end of the spring 63 to stretch, so that it forms a stretched state, the connecting rod moves on the inner wall of the stroke groove set on the top surface of the mounting plate 5, the rack 65 and the gear 64 are meshed and connected, so that the rack 65 drives the gear 64 to rotate, and the gear 64 rotates while driving the driving column 68 to rotate, the driving column 68 drives the first driving bevel gear 69 to rotate, the first driving bevel gear 69 and the first driven bevel gear 610, so that the first driving bevel gear 69 synchronously drives the first driven bevel gear 610 to rotate, and the first driven bevel gear 610 rotates while driving the driven column 611 rotates, and threaded rods 612 are fixedly installed at both ends of the driven column 611. When the driven column 611 rotates, the threaded rod 612 is driven to rotate. A threaded tube 613 is threadedly installed on the outer wall of the threaded rod 612. A limit block is set on the outer wall of the threaded tube 613. The limit block and the threaded tube 613 pass through the through hole set on the side wall of the mounting plate 5, so that the threaded rod 612 rotates and the threaded tube 613 is driven to move on its outer wall to prevent the threaded tube 613 from being driven to rotate by the threaded rod 612. When the threaded tube 613 moves, the clamping plate 66 is moved to expand, and then the machine identification module 4 is placed on the supporting chassis 10, and the push block 61 is released. The elastic force generated by the spring 63 drives the push block 61 to reset. Similarly, The clamping plate 66 is reset to clamp the machine identification module 4. The buffer layer 67 provided on the clamping plate 66 buffers the outer wall of the machine identification module 4. Before the machine identification module 4, the turntable 99 is rotated. The turntable 99 drives the connecting rod 98 to rotate while the turntable 99 rotates. The connecting rod 98 drives the second driving bevel gear 97 to rotate synchronously. The second driving bevel gear 97 is meshed with the second driven bevel gear 96, so that the second driving bevel gear 97 drives the second driven bevel gear 96 to rotate. The second driven bevel gear 96 rotates while the bottom rod 95 rotates. The bottom rod 95 drives the threaded column 94 to rotate. The bottom of the second telescopic plate 93 is provided with a threaded hole 910. The threaded column 94 and the inner wall of the threaded hole 910 provided at its bottom are connected. The two parts are threadedly connected, and the threaded column 94 drives the second telescopic plate 93 to move while rotating. The height of the supporting chassis 10 can be adjusted by adjusting the number of circles and direction of rotation of the turntable 99, so as to realize the focusing of the machine recognition module 4. When the welding gun 2 is performing welding operation on the weld, the welding gun 2 pushes the partition 3 to move. A cleaning connecting rod 71 is fixedly installed at the bottom of the partition 3, and a cleaning block 72 is arranged at the middle end of the bottom of the cleaning connecting rod 71. When the partition 3 moves, it drives the cleaning block 72 to move on the inner wall of the weld. Cleaning brushes 73 are arranged on the outer walls of the cleaning connecting rod 71 and the cleaning block 72. The cleaning block 72 drives the cleaning brush 73 to clean the weld, and the cleaning connecting rod 71 drives the cleaning brush 73 to clean the metal surface.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A weld seam recognition and tracking device based on machine vision, comprising a robot arm (1) and a machine recognition module (4), characterized in that: A connecting shaft (8) is provided at one end of the mechanical arm (1); a welding gun (2) is fixedly mounted on the outer wall of the connecting shaft (8); a mounting plate (5) and a partition plate (3) are fixedly mounted on the side wall of the welding gun (2); a travel groove is provided on the top surface of the mounting plate (5); a quick-release assembly (6) is provided on the inner wall of the travel groove; a focus adjustment assembly (9) is provided at the bottom of the mounting plate (5); a supporting chassis (10) is provided on the focus adjustment assembly (9); and a seam cleaning assembly (7) is provided at the bottom of the partition plate (3).

2. The weld seam identification and tracking device based on machine vision according to claim 1, characterized in that: The quick-install assembly (6) comprises a driven column (611), the driven column (611) being rotatably mounted on the inner wall of the mounting plate (5), a first driven bevel gear (610) being fixedly mounted on the outer wall of the driven column (611), threaded rods (612) being fixedly mounted at both ends of the driven column (611), and a threaded cylinder (613) being threadedly mounted on the outer wall of the threaded rod (612).

3. The weld seam identification and tracking device based on machine vision according to claim 2, characterized in that: A limit block is fixedly mounted on the outer wall of the threaded barrel (613); the threaded barrel (613) and the limit block extend through through holes provided on both sides of the mounting plate (5); a clamping plate (66) is fixedly mounted on one end of the threaded barrel (613); a buffer layer (67) is provided on the outer wall of the clamping plate (66); and a gear (64) is rotatably mounted on the inner wall of the top of the mounting plate (5).

4. The weld seam identification and tracking device based on machine vision according to claim 3 is characterized in that: A driving column (68) is fixedly mounted on the bottom of the gear (64), a first driving bevel gear (69) is fixedly mounted on the bottom end of the driving column (68), the first driving bevel gear (69) is meshingly connected with the first driven bevel gear (610), a rack (65) is slidably mounted on the inner wall of the top of the mounting plate (5), and the rack (65) is meshingly connected with the gear (64).

5. The weld seam identification and tracking device based on machine vision according to claim 4, characterized in that: A connecting rod is fixedly mounted on the outer wall of the rack (65), a push block (61) is fixedly mounted on the top of the connecting rod, the connecting rod is slidably connected to the inner wall of the travel groove, one end of the rack (65) is fixedly mounted on an integrated plate (614), a telescopic rod (62) is fixedly mounted on the outer wall of the integrated plate (614), the other end of the telescopic rod (62) is fixedly mounted on the inner wall of the mounting plate (5), a spring (63) is sleeved on the outer wall of the telescopic rod (62), one end of the spring (63) is fixedly mounted on the outer wall of the integrated plate (614), and the other end of the spring (63) is fixedly mounted on the inner wall of the mounting plate (5).

6. The weld seam identification and tracking device based on machine vision according to claim 5, characterized in that: The focus adjustment assembly (9) comprises a first telescopic plate (91) and a second telescopic plate (93); a groove (92) is provided on the top of the first telescopic plate (91); a bottom rod (95) is rotatably mounted on the inner wall of the groove (92); and a threaded column (94) is fixedly mounted on the top of the bottom rod (95).

7. The weld seam identification and tracking device based on machine vision according to claim 6, characterized in that: A second driven bevel gear (96) is fixedly mounted on the outer wall of the bottom rod (95), a second driving bevel gear (97) is rotatably mounted on the side wall of the groove (92), the second driving bevel gear (97) is meshingly connected with the second driven bevel gear (96), and a connecting rod (98) is fixedly mounted on the outer wall of the second driving bevel gear (97).

8. The weld seam identification and tracking device based on machine vision according to claim 7, characterized in that A rotating disk (99) is fixedly mounted on the other end of the connecting rod (98); the top of the second telescopic plate (93) is fixedly mounted on the bottom of the mounting plate (5); a threaded hole (910) is provided at the bottom of the second telescopic plate (93); the threaded column (94) is threadedly mounted on the inner wall of the threaded hole (910); and a supporting chassis (10) is fixedly mounted on the bottom of the first telescopic plate (91).

9. The weld seam identification and tracking device based on machine vision according to claim 8, characterized in that The seam cleaning assembly (7) comprises a cleaning connecting rod (71), wherein the cleaning connecting rod (71) is fixedly mounted on the bottom of the partition (3), a cleaning block (72) is fixedly mounted on the middle end of the bottom of the cleaning connecting rod (71), and seam cleaning brushes (73) are arranged on the outer walls of the cleaning connecting rod (71) and the cleaning block (72).

10. The method for using the weld seam identification and weld seam tracking device based on machine vision according to any one of claims 1 to 9, characterized in that: The steps include: S1, first push the push block (61), the push block (61) drives the rack (65) to move through the connecting rod, the rack (65) drives the integrated plate (614) to move, the integrated plate (614) drives one end of the spring (63) to stretch, so that it forms a stretched state, the connecting rod moves on the inner wall of the stroke groove arranged on the top surface of the mounting plate (5), the rack (65) and the gear (64) are meshed and connected, so that the rack (65) drives the gear (64) to rotate, and the gear (64) drives the driving column (68) to rotate at the same time, the driving column (68) drives the first driving bevel gear (69) to rotate, the first driving bevel gear (69) and the first driven bevel gear (610), so that the first driving bevel gear (69) synchronously drives the first driven bevel gear (610) to rotate, and the first driven bevel gear (610) rotates and drives the driven column (611) to rotate at the same time, and both ends of the driven column (611) are fixedly installed with threaded rods (612); S2. The driven column (611) rotates while driving the threaded rod (612) to rotate. A threaded barrel (613) is threadedly mounted on the outer wall of the threaded rod (612). A limit block is arranged on the outer wall of the threaded barrel (613). The limit block and the threaded barrel (613) penetrate through a through hole arranged on the side wall of the mounting plate (5). The threaded rod (612) rotates while driving the threaded barrel (613) to move on its outer wall, thereby preventing the threaded barrel (613) from being moved by the threaded rod (612). The threaded cylinder (613) is rotated, and the clamping plate (66) is displaced at the same time, so that the clamping plate (66) is unfolded, and then the machine identification module (4) is placed on the supporting chassis (10), and the push block (61) is released, and the push block (61) is reset by the elastic force generated by the spring (63), and the clamping plate (66) is reset in the same way, and the machine identification module (4) is clamped, and the buffer layer (67) provided on the clamping plate (66) buffers the outer wall of the machine identification module (4); S3. Before the machine identification module (4) is moved, the turntable (99) is rotated. The turntable (99) drives the connecting rod (98) to rotate simultaneously. The connecting rod (98) drives the second driving bevel gear (97) to rotate synchronously. The second driving bevel gear (97) is meshed with the second driven bevel gear (96), so that the second driving bevel gear (97) drives the second driven bevel gear (96) to rotate. The second driven bevel gear (96) drives the bottom rod (95) to rotate simultaneously. The bottom rod (95) drives the threaded column (94) to rotate simultaneously. The bottom of the second telescopic plate (93) is provided with a threaded hole (910). The threaded column (94) is threadedly connected to the inner wall of the bottom of the second telescopic plate (93) with the threaded hole (910). The threaded column (94) drives the second telescopic plate (93) to move simultaneously. The height of the supporting chassis (10) can be adjusted by adjusting the number of turns and direction of the turntable (99), thereby achieving the focusing of the machine identification module (4). S4. When the welding gun (2) is performing welding operation on the weld seam, the welding gun (2) pushes the partition (3) to move. A cleaning connecting rod (71) is fixedly installed at the bottom of the partition (3). A cleaning block (72) is arranged at the middle end of the bottom of the cleaning connecting rod (71). When the partition (3) moves, the cleaning block (72) is driven to move on the inner wall of the weld seam. Cleaning brushes (73) are arranged on the outer walls of the cleaning connecting rod (71) and the cleaning block (72). The cleaning block (72) drives the cleaning brush (73) to clean the weld seam, and the cleaning connecting rod (71) drives the cleaning brush (73) to clean the metal surface.

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