Personified intelligent laser robot

Abstract

The anthropomorphic intelligent laser robot comprises an operation table, an anthropomorphic robot, a laser welding assembly and a multi-direction adjusting manipulator, the anthropomorphic robot is arranged on one side of the operation table and comprises a base, a supporting column, a robot body, a mechanical arm and an infrared camera, and the upper end of the base is connected with the robot body through the supporting column; the two sets of mechanical arms are symmetrically installed on the robot body, the two sets of infrared cameras are symmetrically installed at the head position of the robot body, and the infrared cameras directly face the operation table. The laser welding assembly is located on one side of the anthropomorphic robot and comprises a laser generator and a laser welding gun connected with the laser generator through a pipeline, the laser welding gun is obliquely installed at the head position of the robot body, and the multiple adjusting manipulators are divided into two sets and connected with the two sets of mechanical arms correspondingly. According to the laser welding robot designed by the invention, efficient, automatic and intelligent welding treatment on the pipe connecting seam can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of laser robots, in particular to an anthropomorphic intelligent laser robot. Background Art

[0002] Laser technology is a technology that uses lasers (amplified, focused and consistent light beams) to achieve various purposes. Laser is a special kind of light, which is characterized by monochromaticity (very narrow wavelength), coherence (highly consistent wavefront), directionality (almost parallel light beams), high brightness (high energy density), etc. The continuous development and innovation of laser technology has made it play an increasingly important role in scientific research, health care, communications, manufacturing and other fields. When laser technology is used in manufacturing, it is often used for welding processing, for example: laser welding technology.

[0003] However, the existing laser welding equipment has the following problems in the process of welding pipes: in the process of laser welding the joint seam of the pipe, it is often necessary to cooperate with the driving component to rotate the laser welding head to achieve the purpose of uniform welding of the pipe joint seam. After welding, it is necessary to cooperate with the conveying component or manually unload the welded pipe. The types of various components of the equipment are complicated and errors are easy to occur during the welding process. The degree of intensiveness of laser welding equipment is not high and the degree of automation is insufficient. Therefore, it is necessary to design corresponding technical solutions to solve the existing technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide an anthropomorphic intelligent laser robot, which solves the technical problems that in the process of laser welding the joint seam of the pipe, it is often necessary to cooperate with the driving component to rotationally drive the laser welding head to achieve the purpose of uniform welding of the whole body of the pipe joint seam. After the welding is completed, it is necessary to cooperate with the conveying component or manually unload the welded pipe. The types of various components of the equipment are complicated and errors are prone to occur during the welding process. The degree of intensiveness of laser welding equipment is not high and the degree of automation is insufficient.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an anthropomorphic intelligent laser robot, comprising an operating table, an anthropomorphic robot, a laser welding assembly and a multi-directional adjustment manipulator, wherein the anthropomorphic robot is arranged on one side of the operating table and comprises a base, a support column, a robot body, a mechanical arm and an infrared camera, wherein the upper end of the base is connected to the robot body through the support column, the mechanical arm is divided into two groups and symmetrically installed on the robot body, the infrared camera is divided into two groups and symmetrically installed at the head position of the robot body, the infrared camera is directly facing the operating table, the laser welding assembly is located on one side of the anthropomorphic robot and comprises a laser generator and a laser welding gun connected to the laser generator through a pipeline, the laser welding gun is installed at the head position of the robot body in an inclined state, the multi-directional adjustment manipulator is divided into two groups and respectively connected to the two groups of mechanical arms, the laser welding assembly and the multi-directional adjustment manipulator are both connected to the anthropomorphic robot through lines and controlled by the anthropomorphic robot;

[0006] The multi-adjustment manipulator comprises a manipulator body, a clamping guide assembly and a rotary adjuster, wherein a mounting opening is provided at the palm position of the manipulator body, the clamping guide assembly is divided into two groups and symmetrically installed in the mounting opening, a plurality of groups of notches are evenly provided at the finger positions of the manipulator body, and the rotary adjuster is divided into a plurality of groups and evenly distributed in the plurality of groups of notches;

[0007] The clamping guide assembly includes a clamping disc, a connecting column, a servo motor, a push rod, a return spring and a toggle device. The outer side of the clamping disc is connected to the power output end of the servo motor through the connecting column. The tail of the servo motor is connected to the push rod. The return spring is divided into two groups and symmetrically installed on both sides of the servo motor. One end of the return spring is connected to the inner wall of the installation port and the other end is connected to the servo motor. The toggle device is arranged at the tail of the push rod.

[0008] The rotary regulator includes a mounting frame, a rotating shaft, a toggle wheel and a driving motor. The mounting frame is installed in a slot. The rotating shaft is divided into two groups and symmetrically installed on the mounting frame. The toggle wheel is installed between the two groups of rotating shafts. The driving motor is installed on the mounting frame and the power output end is connected to one of the groups of rotating shafts.

[0009] As a preferred embodiment of the present invention, the heights of the two groups of mechanical arms are greater than the height of the operating table.

[0010] As a preferred embodiment of the present invention, the clamping disk includes a disk body and a friction pad disposed on one side of the disk body, the friction pad is in an arc-shaped structure and the surface is processed into a wavy texture structure.

[0011] As a preferred embodiment of the present invention, the push rod includes a rod body and a ball fixed to the tail of the rod body, and the ball is in contact with the toggle device and the two are used in coordination.

[0012] As a preferred embodiment of the present invention, the toggle device includes a motor and a rotating disk installed on the power output end of the motor, a push block is fixed to the edge of the rotating disk, the push block has a fan-shaped structure and the width of one end is smaller than the width of the other end, and the edge of the push block has a smooth arc structure and is connected to the sphere.

[0013] As a preferred embodiment of the present invention, the shifting wheel comprises a wheel body and a plurality of groups of anti-skid convex strips formed on the surface of the wheel body, wherein the anti-skid convex strips are in the form of raised long strips and are made of rubber material.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention designs a laser robot specially used for anthropomorphic intelligent welding of pipes. The laser welding robot comprises an operating table, an anthropomorphic robot, a laser welding assembly and a multi-directional adjustment manipulator. The pipes to be welded are placed on the operating table and the anthropomorphic robot cooperates with the laser welding assembly to weld the connecting seams of the pipes. During the welding process, the manipulator can achieve the purpose of rotational driving and lateral movement of the pipes through multiple adjustment methods, thereby realizing rotational automatic welding of the connecting seams of the pipes and guided material unloading after welding, which greatly improves the automation degree of laser welding and improves the intensiveness and intelligence degree between various equipment components.

[0016] 2. The laser welding robot designed in the present invention can realize efficient, automated and intelligent welding processing of pipe joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall structure diagram of the present invention;

[0018] Figure 2 This is a structural diagram of the multi-directional adjustment manipulator of the present invention;

[0019] Figure 3 This is a structural diagram of the clamping guide assembly of the present invention;

[0020] Figure 4 This is a structural diagram of the clamping disk of the present invention;

[0021] Figure 5 This is a structural diagram of the rotary regulator described in the present invention.

[0022] In the figure: 1. operating table; 2. base; 3. support column; 4. robot body; 5. mechanical arm; 6. infrared camera; 7. laser generator; 8. laser welding gun; 9. manipulator body; 10. clamping guide assembly; 11. rotary adjuster; 12. mounting port; 13. notch; 14. clamping plate; 15. connecting column; 16. servo motor; 17. push rod; 18. return spring; 19. toggle; 20. mounting frame; 21. rotating shaft; 22. toggle wheel; 23. driving motor; 24. plate body; 25. friction pad; 26. rod body; 27. ball; 28. motor; 29. ​​rotating plate; 30. push block; 31. wheel body; 32. anti-skid convex strip. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1-5 The present invention provides a technical solution: an anthropomorphic intelligent laser robot, comprising an operating table 1, an anthropomorphic robot, a laser welding assembly and a multi-directional adjustment manipulator, the anthropomorphic robot is arranged on one side of the operating table 1 and comprises a base 2, a support column 3, a robot body 4, a mechanical arm 5 and an infrared camera 6, the upper end of the base 2 is connected to the robot body 4 through the support column 3, the mechanical arm 5 is divided into two groups and is symmetrically installed on the robot body 4, the infrared camera 6 is divided into two groups and is symmetrically installed at the head position of the robot body 4, the infrared camera 6 is directly facing the operating table 1, the laser welding assembly is located on one side of the anthropomorphic robot and comprises a laser generator 7 and a laser welding gun 8 connected to the laser generator 7 through a pipeline, the laser welding gun 8 is installed at the head position of the robot body 4 in an inclined shape, the multi-directional adjustment manipulator is divided into two groups and is respectively connected to the two groups of mechanical arms 5, the laser welding assembly and the multi-directional adjustment manipulator are connected to the anthropomorphic robot through lines and are controlled and operated by the anthropomorphic robot;

[0025] The multi-adjustment manipulator comprises a manipulator body 9, a clamping guide assembly 10 and a rotary adjuster 11. A mounting opening 12 is provided at the palm position of the manipulator body 9. The clamping guide assembly 10 is divided into two groups and symmetrically installed in the mounting opening 12. A plurality of groups of notches 13 are evenly provided at the finger positions of the manipulator body 9. The rotary adjuster 11 is divided into a plurality of groups and evenly distributed in the plurality of groups of notches 13.

[0026] The clamping guide assembly 10 includes a clamping disc 14, a connecting column 15, a servo motor 16, a push rod 17, a return spring 18 and a toggle 19. The outer side of the clamping disc 14 is connected to the power output end of the servo motor 16 through the connecting column 15. The tail of the servo motor 16 is connected to the push rod 17. The return spring 18 is divided into two groups and is symmetrically installed on both sides of the servo motor 16. One end of the return spring 18 is connected to the inner wall of the installation port 12 and the other end is connected to the servo motor 16. The toggle 19 is arranged at the tail of the push rod 17. When it is necessary to clamp and position the pipe, the rotating disc 29 is driven by the motor 28. Rotate, the push block 30 rotates during the rotation of the rotating disk 29, and the push block 30 acts on the push rod 17 during the rotation. The push rod 17 moves inward and moves inward through the clamping disk 14 to clamp and fix the pipe. At this time, positioning welding can be performed to ensure the stability of welding. In addition, when the pipe is welded, the clamping disk 14 is driven to rotate by the servo motor 16. The clamping disk 14 drives the pipe to move a short distance horizontally during the rotation, and then the clamping disk 14 is reset. The pipe is clamped again according to the above clamping method, and this is repeated to achieve large-scale horizontal displacement of the pipe.

[0027] The rotary regulator 11 includes a mounting frame 20, a rotating shaft 21, a toggle wheel 22 and a driving motor 23. The mounting frame 20 is installed in the slot 13. The rotating shaft 21 is divided into two groups and symmetrically installed on the mounting frame 20. The toggle wheel 22 is installed between the two groups of rotating shafts 21. The driving motor 23 is installed on the mounting frame 20 and the power output end is connected to one of the groups of rotating shafts 21. The manipulator body 9 maintains a holding state and makes the rotary regulator 11 contact with the pipe. When the pipe needs to be rotary welded, the rotating shaft 21 is driven to rotate by the driving motor 23. The rotating shaft 21 drives the toggle wheel 22 to rotate during the rotation process. The toggle wheel 22 acts on the surface of the pipe to realize the rotation adjustment processing of the pipe.

[0028] Further improvement, such as Figure 1 As shown, the heights of the two sets of mechanical arms 5 are greater than the height of the operating platform 1 .

[0029] Further improvement, such as Figure 4 As shown, the clamping disc 14 includes a disc body 24 and a friction pad 25 disposed on one side of the disc body 24 . The friction pad 25 is an arc-shaped structure and its surface is processed into a wavy texture structure. The clamping disc 14 can achieve the purpose of clamping the pipe.

[0030] Further improvement, such as Figure 3 As shown, the push rod 17 includes a rod body 26 and a ball 27 fixed to the tail of the rod body 26. The ball 27 contacts the toggle 19 and the two are used in conjunction with each other. The push rod 17 can adjust the position of the clamping plate 14 during the lateral movement.

[0031] Further improvement, such as Figure 3 As shown, the toggle device 19 includes a motor 28 and a rotating disk 29 installed at the power output end of the motor 28. A push block 30 is fixed to the edge of the rotating disk 29. The push block 30 has a fan-shaped structure and the width of one end is smaller than the width of the other end. The edge of the push block 30 has a smooth arc structure and is connected to the sphere 27. The rotating disk 29 is driven to rotate by the motor 28. The push block 30 rotates during the rotation of the rotating disk 29. The push block 30 acts on the push rod 17 during the rotation, so that the lateral movement of the push rod 17 can be realized.

[0032] Specifically, the toggle wheel 22 includes a wheel body 31 and a plurality of anti-skid ridges 32 formed on the surface of the wheel body 31. The anti-skid ridges 32 are raised long strips and made of rubber material. The toggle wheel 22 can drive the pipe to rotate and adjust during rotation.

[0033] During use: when it is necessary to perform laser welding on the pipe, the pipe to be welded is placed on the operating table 1, the infrared camera 6 is used to identify the position of the pipe joint seam and drive the mechanical arm 5 and the mechanical arm body 9 to hold the pipe, and the laser welding gun 8 is used to weld the pipe joint seam. When it is necessary to clamp and position the pipe, the motor 28 drives the rotating disk 29 to rotate, and the push block 30 rotates during the rotation of the rotating disk 29. The push block 30 acts on the push rod 17 during the rotation. The push rod 17 moves inward and moves inward through the clamping disk 14 to clamp and fix the pipe. At this time, the positioning can be performed. The welding process is carried out in position to ensure the stability of welding. When the pipe needs to be rotary welded, the driving motor 23 drives the rotating shaft 21 to rotate. The rotating shaft 21 drives the toggle wheel 22 to rotate during the rotation. The toggle wheel 22 acts on the surface of the pipe to realize the rotation adjustment of the pipe. In addition, when the pipe is welded, the servo motor 16 drives the clamping plate 14 to rotate. The clamping plate 14 drives the pipe to move a short distance horizontally during the rotation. Then the clamping plate 14 is reset and the pipe is clamped again according to the above clamping method. This is repeated to realize the large-scale lateral displacement of the pipe.

[0034] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0036] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anthropomorphic intelligent laser robot, characterized in that: The invention comprises an operating table (1), an anthropomorphic robot, a laser welding assembly and a multi-directional adjustable manipulator. The anthropomorphic robot is arranged on one side of the operating table (1) and comprises a base (2), a support column (3), a robot body (4), a mechanical arm (5) and an infrared camera (6). The upper end of the base (2) is connected to the robot body (4) through the support column (3). The mechanical arm (5) is divided into two groups and is symmetrically mounted on the robot body (4). The infrared camera (6) is divided into two groups and is symmetrically mounted on the head of the robot body (4). The infrared camera (6) is directly facing the operating table (1), the laser welding assembly is located on one side of the anthropomorphic robot and includes a laser generator (7) and a laser welding gun (8) connected to the laser generator (7) through a pipeline, the laser welding gun (8) is installed at the head position of the robot body (4) in an inclined state, the multi-directional adjustment manipulator is divided into two groups and is respectively connected to the two groups of mechanical arms (5), the laser welding assembly and the multi-directional adjustment manipulator are connected to the anthropomorphic robot through a line and are controlled and operated by the anthropomorphic robot; The multi-adjustment manipulator comprises a manipulator body (9), a clamping guide assembly (10) and a rotary adjuster (11); a mounting opening (12) is provided at the palm position of the manipulator body (9); the clamping guide assembly (10) is divided into two groups and is symmetrically installed in the mounting opening (12); a plurality of groups of notches (13) are evenly provided at the finger positions of the manipulator body (9); and the rotary adjuster (11) is divided into a plurality of groups and is evenly distributed in the plurality of groups of notches (13); The clamping guide assembly (10) comprises a clamping disc (14), a connecting column (15), a servo motor (16), a push rod (17), a return spring (18) and a toggle (19); the outer side of the clamping disc (14) is connected to the power output end of the servo motor (16) through the connecting column (15); the tail of the servo motor (16) is connected to the push rod (17); the return spring (18) is divided into two groups and is symmetrically installed on both sides of the servo motor (16); one end of the return spring (18) is connected to the inner wall of the installation opening (12) and the other end is connected to the servo motor (16); the toggle (19) is arranged at the tail of the push rod (17); The rotary regulator (11) comprises a mounting frame (20), a rotating shaft (21), a toggle wheel (22) and a driving motor (23); the mounting frame (20) is mounted in the slot (13); the rotating shaft (21) is divided into two groups and symmetrically mounted on the mounting frame (20); the toggle wheel (22) is mounted between the two groups of rotating shafts (21); the driving motor (23) is mounted on the mounting frame (20) and a power output end is connected to one of the groups of rotating shafts (21).

2. The anthropomorphic intelligent laser robot according to claim 1, characterized in that: The heights of the two sets of mechanical arms (5) are greater than the height of the operating platform (1).

3. The anthropomorphic intelligent laser robot according to claim 1, characterized in that: The clamping disc (14) comprises a disc body (24) and a friction pad (25) arranged on one side of the disc body (24); the friction pad (25) is in an arc-shaped structure and its surface is processed into a wavy texture structure.

4. The anthropomorphic intelligent laser robot according to claim 1, characterized in that: The push rod (17) comprises a rod body (26) and a ball body (27) fixed to the tail of the rod body (26); the ball body (27) is in contact with the toggle device (19) and the two are used in coordination.

5. The anthropomorphic intelligent laser robot according to claim 4, characterized in that: The toggle device (19) comprises a motor (28) and a rotating disk (29) mounted on the power output end of the motor (28); a push block (30) is fixed to the edge of the rotating disk (29); the push block (30) is in a fan-shaped structure and the width of one end is smaller than the width of the other end; the edge of the push block (30) is in a smooth arc structure and is in contact with the sphere (27).

6. The anthropomorphic intelligent laser robot according to claim 1, characterized in that: The shifting wheel (22) comprises a wheel body (31) and a plurality of groups of anti-skid convex strips (32) formed on the surface of the wheel body (31); the anti-skid convex strips (32) are in the form of raised long strips and are made of rubber material.

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