Intelligent welding robot based on visual inspection and welding method

Abstract

The invention discloses an intelligent welding robot based on visual inspection and a welding method, and relates to the technical field of welding robotics.The intelligent welding robot comprises a first plate body, a control unit is installed at the top of the first plate body, a first vertical plate is installed at the top of the first plate body, and a first lifting plate is installed at the output end of a second hydraulic telescopic unit; a right-angle plate is installed at the output end of the second motor, a third motor is installed on one side of the right-angle plate, a first rotating rod is installed at the output end of the third motor, a welding mechanism is arranged at one end of the first rotating rod, a third hydraulic telescopic unit is installed at the top of the right-angle plate, and a piston rod is installed at the output end of the third hydraulic telescopic unit. And a polishing mechanism is arranged at one end of the piston rod. The polishing mechanism is arranged, abrasive cloth is driven to move downwards through a third hydraulic telescopic unit, then a fourth motor drives the abrasive cloth to rotate to polish welding seams of the plates, welding slag is removed, and then the welding slag can be sucked away through a dust collector.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, in particular to an intelligent welding robot and a welding method based on visual detection. Background Art

[0002] When a welding robot welds a plate, it needs to weld the plate along the weld. First, it needs to capture the shape of the plate through a camera, then obtain the shape parameters of the plate through graphic processing, and then control the welding robot to weld the plate according to specific parameters. During welding, there is welding slag on the surface of the weld. The presence of welding slag affects people's observation of the quality of the weld and makes it inconvenient for people to observe the defects of the weld. Therefore, the welding slag of the weld needs to be wiped off.

[0003] The defects of existing welding robots are: 1. The prior art KR1020150086064A discloses a welding robot, which does not have a structure for polishing the weld of the welded product. The welding slag on the weld surface easily affects people's observation of the defects of the weld, making it inconvenient for people to judge whether the weld quality is good. Therefore, an intelligent welding robot based on visual inspection that can polish the welding slag on the weld surface is needed to solve this problem.

[0004] 2. The prior art KR1020130026653A discloses a welding robot, which does not have a dust suction structure. When grinding the welding slag on the weld surface, the grinding welding slag is easy to remain on the weld surface, making it difficult for people to clearly observe the quality of the weld. Therefore, an intelligent welding robot based on visual inspection that can absorb and remove the grinding welding slag is needed to solve this problem.

[0005] 3. The prior art KR1020120060659A discloses a welding robot, which does not have a structure for tapping the welded product. When inspecting the weld of the welded product, it is necessary to manually use the product to tap the weld to detect the weld quality. The detection efficiency is low and the labor intensity is high. Therefore, an intelligent welding robot based on visual inspection that can automatically tap the welded product is needed to solve this problem.

[0006] 4. The prior art CN113386151B discloses a welding robot. This technology does not have a noise reduction structure and is prone to generate noise when knocking on the welded product. The noise is transmitted through solid and air. By cutting off one of the transmission paths, the damage to people's hearing can be effectively reduced. Therefore, an intelligent welding robot based on visual detection with a knocking function and a sound insulation structure is needed to solve this problem. Summary of the invention

[0007] One purpose of the present application is to provide an intelligent welding robot and welding method based on visual inspection, which can solve the technical problems raised in the prior art.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent welding robot based on visual detection, comprising a plate body, a vertical plate and a motor, a control unit is installed on the top of the plate body, a vertical plate is installed on the top of the plate body, a plurality of motors are installed on the front of the vertical plate, and the motors are connected to the control unit by electrical signals, a screw is installed on the output end of the motor, a moving plate is installed on the outer side of the screw, a hydraulic telescopic unit is installed on the front of the moving plate, and the hydraulic telescopic unit is connected to the control unit by electrical signals, and the output end of the hydraulic telescopic unit is installed A movable plate 2 is installed, a hydraulic telescopic unit 2 is installed on the top of the movable plate 2, and the hydraulic telescopic unit 2 is connected to the control unit by electrical signals, a lifting plate 1 is installed on the output end of the hydraulic telescopic unit 2, a motor 2 is installed on the bottom of the lifting plate 1, and the motor 2 is connected to the control unit by electrical signals, a right-angle plate is installed on the output end of the motor 2, a motor 3 is installed on one side of the right-angle plate, and the motor 3 is connected to the control unit by electrical signals, a rotating rod 1 is installed on the output end of the motor 3, and one end of the rotating rod 1 passes through one side of the right-angle plate, and a welding mechanism is provided at one end of the rotating rod 1; A hydraulic telescopic unit three is installed on the top of the right angle plate, and the hydraulic telescopic unit three is connected to the control unit by electrical signals. A piston rod is installed at the output end of the hydraulic telescopic unit three, and one end of the piston rod passes through the bottom of the right angle plate. A grinding mechanism is provided at one end of the piston rod.

[0009] Preferably, a plurality of pillars are symmetrically installed at the bottom of the plate body one, a plurality of threaded rods are symmetrically installed through the top of the plate body one, a guide frame is installed at one end of the threaded rod one, a bolt is installed through the top of the guide frame, a rod body one is movably installed on the inner side of the guide frame, an electric telescopic unit one is installed at the top of the rod body one, and the electric telescopic unit one is connected with the control unit by electrical signals, a pressure plate is installed at the output end of the electric telescopic unit one, and the pressure plate is located below the rod body one.

[0010] Preferably, a plurality of support plates are installed on the front of the vertical plate one, and the support plates are located on the outside of the screw rod, a rod body three is installed on the front of the vertical plate one, a camera is installed at the bottom of the rod body three, and the camera is electrically connected to the control unit.

[0011] Preferably, the welding mechanism includes a frame body 1, bolts 2, a clamp and a welding gun, one side of the frame body 1 is connected to one end of the rotating rod 1, bolts 2 are symmetrically installed on both sides of the frame body 1, a clamp is installed at one end of the bolt 2, a welding gun is installed on the inner side of the clamp, and the welding gun is electrically connected to the control unit by signals.

[0012] Preferably, the grinding mechanism includes a lifting plate 2, a motor 4, a rotating rod 2, a rubber sleeve and emery cloth, the top of the lifting plate 2 is connected to one end of the piston rod, the bottom of the lifting plate 2 is installed with a motor 4, and the motor 4 is electrically connected to the control unit, the output end of the motor 4 is installed with a rotating rod 2, the outer side of the rotating rod 2 is installed with a rubber sleeve, and the outer side of the rubber sleeve is installed with emery cloth.

[0013] Preferably, a rod body 2 is installed on the outer side of the piston rod, a bolt 3 is installed through one side of the rod body 2, a bolt 4 is installed through the front side of the rod body 2, a suction pipe is installed through the top of the rod body 2, a hose is installed at the output end of the suction pipe, a vacuum cleaner is installed on the back side of the vertical plate 1, and the vacuum cleaner is connected to the control unit via electrical signals, and the input end of the vacuum cleaner is connected to the output end of the hose.

[0014] Preferably, a plurality of hydraulic telescopic units four are installed on the top of the vertical plate one, and the hydraulic telescopic units four are electrically connected to the control unit, a lifting plate three is installed on the output end of the hydraulic telescopic unit four, a pressure sensing unit is installed on the top of the lifting plate three, and the pressure sensing unit is electrically connected to the control unit, a frame two is installed on the top input end of the pressure sensing unit, a rotating rod three is movably installed through the inner side of the frame two, and the rotating rod three is located below the hose.

[0015] Preferably, a plate body 2 is installed on one side of the plate body 1, a vertical plate 2 is installed on one side of the vertical plate 1, a plurality of hydraulic telescopic units 5 are installed on the back of the vertical plate 2, and the hydraulic telescopic units 5 are electrically connected to the control unit by signals, a movable plate 3 is installed on the output end of the hydraulic telescopic unit 5, a plurality of electric telescopic units 2 are installed on the top of the movable plate 3, and the electric telescopic units 2 are electrically connected to the control unit by signals, a push rod is installed on the output end of the electric telescopic unit 2, and one end of the push rod passes through the bottom of the movable plate 3, a hammer block is installed on one end of the push rod, a plastic frame is movably installed on the outer side of the push rod, and sound insulation cotton is installed on the inner wall of the plastic frame.

[0016] Preferably, the welding method of the intelligent welding robot based on visual detection is as follows: S1. Place the two plates to be welded on top of plate body 1, then rotate rod body 1 to move the pressing plate to the top of the plates, and then press the plates tightly with the pressing plate; S2, the camera takes a picture of the plate, the control unit identifies the welding position of the plate, and then the welding gun moves to the welding position and then moves down to weld the plate. The moving plate moves left and right to drive the welding gun to move left and right to weld the plate. At the same time, the three pairs of hose supports of the rotating rod move up and down at the same time, so that the pressure value detected by the pressure sensing unit is maintained at the set value; S3, hydraulic telescopic unit 3 drives the emery cloth to move downward, and then motor 4 drives the emery cloth to rotate to polish the plate weld and remove welding slag; S4. After welding is completed, the welded plate is pushed to the right to the top of plate body 2. After a set time, the moving plate 3 moves forward, and then the electric telescopic unit 2 drives the hammer block to move down to hammer the plate weld to detect the welding strength of the weld.

[0017] Preferably, the step S3 further includes the following steps: S31, then the vacuum cleaner sucks the welding slag from the suction pipe and transfers it into the interior of the vacuum cleaner.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention is provided with a polishing mechanism, which drives the emery cloth to move downward through the hydraulic telescopic unit three, and then the motor four drives the emery cloth to rotate to polish the plate weld to remove the welding slag, and then the welding slag can be sucked away by a vacuum cleaner.

[0019] The present invention can support the hose by rotating rod three to prevent the hose from contacting the welded plate, thereby preventing the hose from being damaged; and when the detection value of the pressure sensing unit is less than the set value, the hydraulic telescopic unit four drives the rotating rod three to move upward, and when the detection value of the pressure sensing unit is greater than the set value, the hydraulic telescopic unit four drives the rotating rod three to move downward, thereby preventing the hose from moving downward to contact the plate and preventing the hose from being pulled off the vacuum cleaner and the suction pipe.

[0020] The movable plate three of the present invention moves forward, and then the electric telescopic unit two drives the hammer block to move downward to hammer the weld of the plate, so as to detect the welding strength and defects of the weld.

[0021] The present invention can isolate the noise transmitted in the air when the hammer hits the plate by arranging the plastic frame and the sound insulation cotton, thereby reducing the noise generated when the hammer hits the plate and reducing the damage to the hearing of people. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A perspective view of the present invention; Figure 2 It is a schematic diagram of the guide frame structure of the present invention; Figure 3 It is a structural schematic diagram of a vertical plate of the present invention; Figure 4 It is a structural schematic diagram of the movable plate 1, the vacuum cleaner and the hydraulic telescopic unit 4 of the present invention; Figure 5 It is a structural schematic diagram of the second movable plate of the present invention; Figure 6 It is a structural schematic diagram of the hydraulic telescopic unit 3, the lifting plate 2 and the rod body 2 of the present invention; Figure 7 It is a schematic diagram of the structure of the frame 2 of the present invention; Figure 8It is a schematic diagram of the structure of the second vertical plate of the present invention; Fig. 9 It is a schematic diagram of the plastic frame structure of the present invention; Fig.10 The figure is a flow chart of the welding method of the present invention.

[0023] In the figure: 1, plate body 1; 2, pillar; 3, threaded rod 1; 4, guide frame; 5, bolt 1; 6, rod body 1; 7, electric telescopic unit 1; 8, pressure plate; 9, vertical plate 1; 10, motor 1; 11, screw rod; 12, support plate; 13, moving plate 1; 14, hydraulic telescopic unit 1; 15, moving plate 2; 16, hydraulic telescopic unit 2; 17, lifting plate 1; 18, motor 2; 19, right angle plate; 20, motor 3; 21, rotating rod 1; 22, frame body 1; 23, bolt 2; 24, clamping plate; 25, welding gun; 26, hydraulic telescopic unit 3; 27, piston rod; 28, lifting plate 2; 29. ​​Motor 4; 30. Rubber sleeve; 31. Emery cloth; 32. Rod body 2; 33. Bolt 3; 34. Bolt 4; 35. Suction tube; 36. Hose; 37. Rotating rod 2; 38. Vacuum cleaner; 39. Hydraulic telescopic unit 4; 40. Lifting plate 3; 41. Pressure sensing unit; 42. Frame body 2; 43. Rotating rod 3; 44. Plate body 2; 45. Vertical plate 2; 46. Hydraulic telescopic unit 5; 47. Moving plate 3; 48. Electric telescopic unit 2; 49. Push rod; 50. Hammer block; 51. Plastic frame; 52. Sound insulation cotton; 53. Control unit; 54. Rod body 3; 55. Camera. DETAILED DESCRIPTION

[0024] 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.

[0025] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the 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 cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] See also Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , an embodiment provided by the present invention: an intelligent welding robot based on visual detection; The invention comprises a plate body 1, a vertical plate 9, a motor 10 and a welding mechanism, a control unit 53 is installed on the top of the plate body 1, a vertical plate 9 is installed on the top of the plate body 1, a plurality of motors 10 are installed on the front of the vertical plate 9, and the motors 10 are electrically connected to the control unit 53 by signals, a screw rod 11 is installed on the output end of the motor 10, a moving plate 13 is installed on the outer side of the screw rod 11, a hydraulic telescopic unit 14 is installed on the front of the moving plate 13, and the hydraulic telescopic unit 14 is electrically connected to the control unit 53 by signals, a moving plate 2 15 is installed on the output end of the hydraulic telescopic unit 14, a hydraulic telescopic unit 2 16 is installed on the top of the moving plate 2 15, and the hydraulic telescopic unit 2 16 is electrically connected to the control unit 53 by signals, and the hydraulic telescopic unit 2 16 is electrically connected to the control unit 53 by signals. A lifting plate 17 is installed at the output end, a motor 2 18 is installed at the bottom of the lifting plate 17, and the motor 2 18 is connected to the control unit 53 by electrical signals, a right-angle plate 19 is installed at the output end of the motor 2 18, a motor 3 20 is installed on one side of the right-angle plate 19, and the motor 3 20 is connected to the control unit 53 by electrical signals, a rotating rod 1 21 is installed at the output end of the motor 3 20, and one end of the rotating rod 1 21 passes through one side of the right-angle plate 19, and a welding mechanism is provided at one end of the rotating rod 1 21, and the welding mechanism includes a frame 1 22, a bolt 23, a clamping plate 24 and a welding gun 25, one side of the frame 1 22 is connected to one end of the rotating rod 1 21, and bolts 23 are symmetrically penetrated and installed on both sides of the frame 1 22, and a clamping plate 24 is installed at one end of the bolt 23 A welding gun 25 is installed on the inner side of the clamping plate 24, and the welding gun 25 is connected to the control unit 53 by electrical signals. The plate body 1 can provide an installation position for other components of the device. The vertical plate 9 plays the role of installing the motor 10. The control unit 53 is a touch screen industrial computer, which can receive signals from the pressure sensor unit 41 and the camera 55. At the same time, it can control the electric telescopic unit 17, the motor 10, the hydraulic telescopic unit 14, the hydraulic telescopic unit 2 16, the motor 2 18, the motor 3 20, the welding gun 25, the hydraulic telescopic unit 3 26, the motor 4 29, the vacuum cleaner 38, the hydraulic telescopic unit 4 39, the hydraulic telescopic unit 5 46 and the electric telescopic unit 2 48. The motor 10 can convert electrical energy into kinetic energy, thereby driving the screw 11 to rotate. The screw rod 11 can drive the movable plate 13 to move left and right by rotating, and the movable plate 13 can drive the hydraulic telescopic unit 14, the movable plate 2 15, the welding gun 25 and the emery cloth 31 to move left and right by moving left and right. The hydraulic telescopic unit 14 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the movable plate 13, the welding gun 25 and the emery cloth 31 to move forward and backward. The movable plate 2 15 can drive the welding gun 25 and the emery cloth 31 to move forward and backward by moving forward and backward. The hydraulic telescopic unit 2 16 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the lifting plate 17 to move up and down. The lifting plate 17 can drive the welding gun 25 and the emery cloth 31 to move up and down by moving up and down. The motor 2 18 can convert electrical energy into kinetic energy.Thus, the right angle plate 19 is driven to rotate, thereby changing the relative positions of the welding gun 25 and the sandpaper 31. The right angle plate 19 can rotate so that when the moving direction of the welding gun 25 changes, the sandpaper 31 can always polish along the weld after welding by the welding gun 25. The motor 3 20 can convert electrical energy into kinetic energy, thereby driving the rotating rod 1 21 to rotate. The rotating rod 1 21 can drive the frame 1 22 to rotate by rotating, so that the welding gun 25 can change its inclination, so that the welding gun 25 can be tilted to weld the connection position of the horizontal plate and the vertical plate. The frame 1 22 can provide an installation position for the bolt 2 23. The bolt 23 can drive the clamping plate 24 to move forward and backward by rotating. The clamping plate 24 can clamp the welding gun 25 by moving inward, and the welding gun 25 plays the role of welding plates.

[0028] See also Figure 1 , Figure 3 , Figure 5 and Figure 6 , an embodiment provided by the present invention: an intelligent welding robot based on visual detection; It includes a hydraulic telescopic unit 3 26 and a grinding mechanism. The hydraulic telescopic unit 3 26 is installed on the top of the right-angle plate 19, and the hydraulic telescopic unit 3 26 is connected to the control unit 53 by electrical signals. The output end of the hydraulic telescopic unit 3 26 is installed with a piston rod 27, and one end of the piston rod 27 passes through the bottom of the right-angle plate 19. One end of the piston rod 27 is provided with a grinding mechanism. The grinding mechanism includes a lifting plate 28, a motor 4 29, a rotating rod 27, a rubber sleeve 30 and an abrasive cloth 31. The top of the lifting plate 28 is connected to one end of the piston rod 27, the bottom of the lifting plate 28 is installed with a motor 4 29, and the motor 4 29 is connected to the control unit 53 by electrical signals. The output end of the motor 4 29 is installed with a rotating rod 23 7. A rubber sleeve 30 is installed on the outer side of the rotating rod 2 37, and an emery cloth 31 is installed on the outer side of the rubber sleeve 30. The hydraulic telescopic unit 3 26 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the piston rod 27 to move up and down. The piston rod 27 can drive the lifting plate 2 28 to move up and down by moving up and down. The lifting plate 28 can drive the emery cloth 31 and the rod body 2 32 to move up and down by moving up and down. The motor 4 29 can convert electrical energy into kinetic energy, thereby driving the rotating rod 2 37 to rotate. The rotating rod 2 37 can drive the rubber sleeve 30 and the emery cloth 31 to rotate by rotating. The rubber sleeve 30 is soft rubber and can be deformed, so that the emery cloth 31 can be deformed to perform a more comprehensive polishing of the welding position.

[0029] See also Figure 1 and Figure 2 , an embodiment provided by the present invention: an intelligent welding robot based on visual detection; It includes pillars 2, threaded rods 3 and rod bodies 6. A plurality of pillars 2 are symmetrically installed at the bottom of the plate body 1, a plurality of threaded rods 3 are symmetrically installed through the top of the plate body 1, a guide frame 4 is installed at one end of the threaded rods 3, a bolt 5 is installed through the top of the guide frame 4, a rod body 6 is movably installed on the inner side of the guide frame 4, an electric telescopic unit 7 is installed on the top of the rod body 6, and the electric telescopic unit 7 is electrically connected to the control unit 53 by signals, a pressure plate 8 is installed at the output end of the electric telescopic unit 7, and the pressure plate 8 is located below the rod body 6, the pillars 2 can support the plate body 1, the threaded rods 3 can provide an installation position for the guide frame 4, and the threaded rods 3 can rotate, so that the guide frame 4 can rotate, the guide frame 4 can provide guidance for the rod body 6, so that the rod body 6 can move left and right, the electric telescopic unit 7 is an electric telescopic rod, which can convert electrical energy into kinetic energy, thereby driving the pressure plate 8 to move up and down, and the pressure plate 8 can press the plate placed above the plate body 1 by moving downward to prevent the plate from moving.

[0030] See also Figure 1 , an embodiment provided by the present invention: an intelligent welding robot based on visual detection; It includes a rod body 3 54 and a support plate 12. A plurality of support plates 12 are installed on the front of the vertical plate 9, and the support plates 12 are located on the outside of the screw rod 11. A rod body 3 54 is installed on the front of the vertical plate 9. A camera 55 is installed at the bottom of the rod body 3 54, and the camera 55 is electrically connected to the control unit 53. The support plate 12 can provide support for one end of the screw rod 11 to prevent the screw rod 11 from bending downward. The rod body 3 54 can provide an installation position for the camera 55. The camera 55 can shoot the plate placed above the plate body 1, thereby facilitating the control unit 53 to judge the welding position of the plate.

[0031] See also Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , an embodiment provided by the present invention: an intelligent welding robot based on visual detection; The second rod body 32 includes a rod body 32 installed on the outer side of the piston rod 27, a bolt 33 is installed through one side of the rod body 32, a bolt 4 34 is installed through the front of the rod body 32, a suction pipe 35 is installed through the top of the rod body 32, a hose 36 is installed at the output end of the suction pipe 35, a vacuum cleaner 38 is installed on the back of the vertical plate 9, and the vacuum cleaner 38 is connected to the control unit 53 by electrical signals, and the input end of the vacuum cleaner 38 is connected to the output end of the hose 36, and the rod body 32 can provide the suction pipe 35 with a vacuum cleaner 38. The bolt three 33 can squeeze the piston rod 27 by rotating, thereby ensuring the stability of the rod body 23 on the outside of the piston rod 27, and the bolt four 34 can squeeze and fix the suction tube 35 by rotating, thereby ensuring the stability of the suction tube 35 on the inside of the rod body 232, and the suction tube 35 can provide a transmission path for the welding slag to enter the inside of the hose 36, and the vacuum cleaner 38 can absorb the welding slag into the inside of the suction tube 35, and the hose 36 can provide a transmission path for the welding slag inside the suction tube 35 to enter the inside of the vacuum cleaner 38.

[0032] See also Figure 1 , Figure 3 , Figure 4 and Figure 7 , an embodiment provided by the present invention: an intelligent welding robot based on visual detection; The invention comprises a hydraulic telescopic unit 439 and a frame 242. A plurality of hydraulic telescopic units 439 are installed on the top of the vertical plate 9, and the hydraulic telescopic units 439 are connected to the control unit 53 by electrical signals. A lifting plate 340 is installed on the output end of the hydraulic telescopic unit 439. A pressure sensing unit 41 is installed on the top of the lifting plate 340, and the pressure sensing unit 41 is connected to the control unit 53 by electrical signals. A frame 242 is installed on the top input end of the pressure sensing unit 41. A rotating rod 343 is installed on the inner side of the frame 242, and the rotating rod 343 is located at the hose 3 6, the hydraulic telescopic unit four 39 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the lifting plate three 40 to move up and down. The lifting plate three 40 can drive the pressure sensing unit 41 and the frame two 42 to move up and down by moving up and down. The pressure sensing unit 41 is a pressure sensor, which can measure the pressure from the frame two 42 and transmit the pressure information to the control unit 53. The frame two 42 can provide an installation position for the rotating rod three 43, and the rotating rod three 43 can provide support for the hose 36 to prevent the hose 36 from contacting the plate above the plate body one 1.

[0033] See also Figure 1 , Figure 8 and Fig. 9 , an embodiment provided by the present invention: an intelligent welding robot based on visual detection; It includes a plate body 2 44 and a movable plate 3 47, the plate body 2 44 is installed on one side of the plate body 1, the vertical plate 2 45 is installed on one side of the vertical plate 19, a plurality of hydraulic telescopic units 5 46 are installed on the back of the vertical plate 2 45, and the hydraulic telescopic units 5 46 are connected to the control unit 53 by electrical signals, the output end of the hydraulic telescopic unit 5 46 is installed with the movable plate 3 47, the top of the movable plate 3 47 is installed with a plurality of electric telescopic units 2 48, and the electric telescopic units 2 48 are connected to the control unit 53 by electrical signals, a push rod 49 is installed at the output end of the electric telescopic unit 2 48, and one end of the push rod 49 passes through the bottom of the movable plate 3 47, a hammer block 50 is installed at one end of the push rod 49, a plastic frame 51 is movably installed on the outer side of the push rod 49, and sound insulation cotton 52 is installed on the inner wall of the plastic frame 51, the plate body 2 44 can provide a placement position for the plate after welding is completed, the vertical plate 2 4 5 can provide an installation position for the hydraulic telescopic unit five 46. The hydraulic telescopic unit five 46 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the movable plate three 47 to move forward and backward. The movable plate three 47 can drive the electric telescopic unit two 48 and the hammer block 50 to move forward and backward by moving forward and backward. The electric telescopic unit two 48 is an electric telescopic rod, which can convert electrical energy into kinetic energy, thereby driving the push rod 49 to move up and down. The push rod 49 can drive the hammer block 50 to move up and down by moving up and down. The hammer block 50 can knock the welded plate placed above the plate body two 44 by moving downward, thereby facilitating the detection of the anti-knock ability of the weld of the plate. The plastic frame 51 can provide an installation position for the sound insulation cotton 52. The sound insulation cotton 52 plays a role of sound insulation, which can reduce the noise transmitted through the air when the hammer block 50 knocks on the plate, thereby reducing the damage of the noise to the hearing of the personnel.

[0034] The welding method of the intelligent welding robot based on visual detection is as follows: S1. Place the two plates to be welded on top of the plate body 1, then rotate the rod body 6 to move the pressing plate 8 to the top of the plates, and then press the plates with the pressing plate 8; S2, the camera 55 takes a picture of the plate, the control unit 53 identifies the welding position of the plate, and then the welding gun 25 moves to the welding position and then moves down to weld the plate, the movable plate 13 moves left and right to drive the welding gun 25 to move left and right to weld the plate, and at the same time, the rotating rod 3 43 supports the hose 36 and moves up and down, so that the pressure value detected by the pressure sensing unit 41 is maintained at the set value; S3, the hydraulic expansion unit 3 26 drives the emery cloth 31 to move downward, and then the motor 4 29 drives the emery cloth 31 to rotate to polish the plate weld and remove the welding slag; S4. After welding is completed, the welded plate is pushed to the right to above the plate body 2 44. After a set time, the movable plate 3 47 moves forward, and then the electric telescopic unit 2 48 drives the hammer block 50 to move down to hammer the plate weld to detect the welding strength of the weld.

[0035] S3 also includes the following steps: S31 , the vacuum cleaner 38 then sucks the welding slag from the suction pipe 35 and transfers it into the interior of the vacuum cleaner 38 .

[0036] Working principle: Before using the intelligent welding robot based on visual detection, you should first check whether the intelligent welding robot based on visual detection has any problems that affect its use. Place the two plates to be welded on the top of the plate body 1, then rotate the rod body 6 to move the pressure plate 8 to the top of the plate, then press the plate 8, the camera 55 takes a picture of the plate, the control unit 53 identifies the welding position of the plate, and then the welding gun 25 moves to the welding position and then moves down to weld the plate. The moving plate 13 moves left and right to drive the welding gun 25 to move left and right to weld the plate. At the same time, the rotating rod 3 43 supports the hose 36 and moves up and down, so that the pressure value detected by the pressure sensing unit 41 is maintained at the set value. When the pressure sensing unit 41 detects a value less than When the set value is reached, the hydraulic telescopic unit four 39 drives the rotating rod three 43 to move upward. When the detection value of the pressure sensing unit 41 is greater than the set value, the hydraulic telescopic unit four 39 drives the rotating rod three 43 to move downward. The hydraulic telescopic unit three 26 drives the emery cloth 31 to move downward. Then the motor four 29 drives the emery cloth 31 to rotate to polish the plate weld and remove the welding slag. Then the vacuum cleaner 38 sucks the welding slag from the suction pipe 35 and transmits it into the vacuum cleaner 38. After welding is completed, the welded plate is pushed to the right to the top of the plate body two 44. After the set time, the staff then controls the hydraulic telescopic unit five to drive the movable plate three 47 to move forward, and then the electric telescopic unit two 48 drives the hammer block 50 to move downward to hammer the plate weld to detect the welding strength of the weld.

[0037] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from all points of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference signs in the claims should not be regarded as limiting the rights involved.

Claims

1. Intelligent welding robot based on visual inspection, characterized by: The invention comprises a plate body (1), a vertical plate (9) and a motor (10), wherein a control unit (53) is installed on the top of the plate body (1), a vertical plate (9) is installed on the top of the plate body (1), a plurality of motors (10) are installed on the front of the vertical plate (9), and the motors (10) are electrically connected to the control unit (53), a screw rod (11) is installed on the output end of the motor (10), a movable plate (13) is installed on the outer side of the screw rod (11), a hydraulic telescopic unit (14) is installed on the front of the movable plate (13), and the hydraulic telescopic unit (14) is electrically connected to the control unit (53), a movable plate (2) (15) is installed on the output end of the hydraulic telescopic unit (14), and the top of the movable plate (2) (15) A hydraulic telescopic unit 2 (16) is installed, and the hydraulic telescopic unit 2 (16) is electrically connected to the control unit (53); a lifting plate 1 (17) is installed at the output end of the hydraulic telescopic unit 2 (16); a motor 2 (18) is installed at the bottom of the lifting plate 1 (17), and the motor 2 (18) is electrically connected to the control unit (53); a right angle plate (19) is installed at the output end of the motor 2 (18); a motor 3 (20) is installed on one side of the right angle plate (19), and the motor 3 (20) is electrically connected to the control unit (53); a rotating rod 1 (21) is installed at the output end of the motor 3 (20), and one end of the rotating rod 1 (21) passes through one side of the right angle plate (19); and a welding mechanism is provided at one end of the rotating rod 1 (21); A hydraulic telescopic unit three (26) is installed on the top of the right-angle plate (19), and the hydraulic telescopic unit three (26) is electrically connected to the control unit (53); a piston rod (27) is installed at the output end of the hydraulic telescopic unit three (26), and one end of the piston rod (27) passes through the bottom of the right-angle plate (19); and a grinding mechanism is provided at one end of the piston rod (27).

2. The intelligent welding robot based on visual detection according to claim 1 is characterized in that: A plurality of pillars (2) are symmetrically mounted on the bottom of the plate body (1), a plurality of threaded rods (3) are symmetrically mounted through the top of the plate body (1), a guide frame (4) is mounted on one end of the threaded rod (3), a bolt (5) is mounted through the top of the guide frame (4), a rod body (6) is movably mounted on the inner side of the guide frame (4), an electric telescopic unit (7) is mounted on the top of the rod body (6), and the electric telescopic unit (7) is connected to the control unit (53) via an electrical signal, a pressure plate (8) is mounted on the output end of the electric telescopic unit (7), and the pressure plate (8) is located below the rod body (6).

3. The intelligent welding robot based on visual detection according to claim 1 is characterized in that: A plurality of support plates (12) are mounted on the front of the vertical plate one (9), and the support plates (12) are located outside the screw rod (11). A rod body three (54) is mounted on the front of the vertical plate one (9), and a camera (55) is mounted on the bottom of the rod body three (54), and the camera (55) is connected to the control unit (53) via electrical signals.

4. The intelligent welding robot based on visual detection according to claim 1 is characterized in that: The welding mechanism comprises a frame body (22), a bolt (23), a clamping plate (24) and a welding gun (25); one side of the frame body (22) is connected to one end of a rotating rod (21); bolts (23) are symmetrically installed through both sides of the frame body (22); a clamping plate (24) is installed at one end of the bolt (23); a welding gun (25) is installed on the inner side of the clamping plate (24); and the welding gun (25) is connected to a control unit (53) via an electrical signal.

5. The intelligent welding robot based on visual detection according to claim 1 is characterized in that: The grinding mechanism comprises a lifting plate 2 (28), a motor 4 (29), a rotating rod 2 (37), a rubber sleeve (30) and an emery cloth (31). The top of the lifting plate 2 (28) is connected to one end of the piston rod (27). The bottom of the lifting plate 2 (28) is equipped with a motor 4 (29), and the motor 4 (29) is connected to a control unit (53) via an electrical signal. The output end of the motor 4 (29) is equipped with a rotating rod 2 (37). The outer side of the rotating rod 2 (37) is equipped with a rubber sleeve (30), and the outer side of the rubber sleeve (30) is equipped with an emery cloth (31).

6. The intelligent welding robot based on visual detection according to claim 1 is characterized in that: A second rod body (32) is installed on the outer side of the piston rod (27), a third bolt (33) is installed through one side of the second rod body (32), a fourth bolt (34) is installed through the front side of the second rod body (32), a suction pipe (35) is installed through the top of the second rod body (32), a hose (36) is installed at the output end of the suction pipe (35), a vacuum cleaner (38) is installed on the back side of the first vertical plate (9), the vacuum cleaner (38) is connected to the control unit (53) via an electrical signal, and the input end of the vacuum cleaner (38) is connected to the output end of the hose (36).

7. The intelligent welding robot based on visual detection according to claim 6 is characterized in that: A plurality of hydraulic telescopic units four (39) are installed on the top of the vertical plate one (9), and the hydraulic telescopic units four (39) are electrically connected to the control unit (53); a lifting plate three (40) is installed on the output end of the hydraulic telescopic unit four (39); a pressure sensing unit (41) is installed on the top of the lifting plate three (40), and the pressure sensing unit (41) is electrically connected to the control unit (53); a frame body two (42) is installed on the top input end of the pressure sensing unit (41); a rotating rod three (43) is movably installed on the inner side of the frame body two (42), and the rotating rod three (43) is located below the hose (36).

8. The intelligent welding robot based on visual detection according to claim 1, characterized in that: A plate body 2 (44) is installed on one side of the plate body 1 (1), a vertical plate 2 (45) is installed on one side of the vertical plate 1 (9), a plurality of hydraulic telescopic units 5 (46) are installed on the back of the vertical plate 2 (45), and the hydraulic telescopic units 5 (46) are electrically connected to the control unit (53), a movable plate 3 (47) is installed on the output end of the hydraulic telescopic unit 5 (46), a plurality of electric telescopic units 2 (48) are installed on the top of the movable plate 3 (47), and the electric telescopic units 2 (48) are electrically connected to the control unit (53), a push rod (49) is installed on the output end of the electric telescopic unit 2 (48), and one end of the push rod (49) passes through the bottom of the movable plate 3 (47), a hammer block (50) is installed on one end of the push rod (49), a plastic frame (51) is movably installed on the outer side of the push rod (49), and sound insulation cotton (52) is installed on the inner wall of the plastic frame (51).

9. The welding method of the intelligent welding robot based on visual detection according to any one of claims 1 to 8, characterized in that: The welding method of the intelligent welding robot based on visual detection is as follows: S1. Place two plates to be welded on top of plate body 1 (1), then rotate rod body 1 (6) to move the pressing plate (8) above the plates, and then press the plates with the pressing plate (8); S2, the camera (55) takes a picture of the plate, the control unit (53) identifies the welding position of the plate, and then the welding gun (25) moves to the welding position and then moves down to weld the plate, the movable plate (13) moves left and right to drive the welding gun (25) to move left and right to weld the plate, and at the same time, the rotating rod (43) supports the hose (36) and moves up and down, so that the pressure value detected by the pressure sensing unit (41) is maintained at the set value; S3, the hydraulic expansion unit 3 (26) drives the emery cloth (31) to move downward, and then the motor 4 (29) drives the emery cloth (31) to rotate to polish the weld of the plate and remove the welding slag; S4. After welding is completed, the welded plate is pushed to the right to the top of the second plate body (44). After a set time, the moving plate (47) moves forward, and then the electric telescopic unit (48) drives the hammer (50) to move downward to hammer the weld of the plate to detect the welding strength of the weld.

10. The welding method of the intelligent welding robot based on visual detection according to claim 9, characterized in that: The S3 also includes the following steps: S31, the vacuum cleaner (38) then sucks the welding slag from the suction pipe (35) and transfers it into the interior of the vacuum cleaner (38).

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