Intelligent welding robot based on visual detection and welding method

Abstract

The application discloses an intelligent welding robot based on visual detection and a welding method, relates to the technical field of welding robots, and comprises a plate body one, a control unit is installed on the top of the plate body one, a vertical plate one is installed on the top of the plate body one, an output end of a hydraulic telescopic unit two is provided with a lifting plate one, an output end of a motor two is provided with a right-angle plate, one side of the right-angle plate is provided with a motor three, an output end of the motor three is provided with a rotating rod one, one end of the rotating rod one is provided with a welding mechanism, a hydraulic telescopic unit three is installed on the top of the right-angle plate, an output end of the hydraulic telescopic unit three is provided with a piston rod, and one end of the piston rod is provided with a polishing mechanism. The polishing mechanism is arranged, the sand cloth is driven to move downwards by the hydraulic telescopic unit three, then the sand cloth is driven to rotate by a motor four to polish the weld of the plate, the welding slag is removed, and then the welding slag can be sucked and removed by a dust collector.

Description

TECHNICAL FIELD

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

[0002] When a welding robot welds a plate, the plate needs to be welded along a weld seam. First, the shape of the plate is photographed by a camera, then the shape parameters of the plate are obtained through image processing, and then the welding robot is controlled to weld the plate according to specific parameters. When welding, there is welding slag on the surface of the weld seam. The existence of the welding slag affects people's observation of the quality of the weld seam, and it is inconvenient for people to observe the defects of the weld seam. Therefore, it is necessary to remove the welding slag on the weld seam.

[0003] The existing welding robot has the following defects:

[0004] 1. The prior art KR1020150086064A discloses a welding robot. The technology does not have a structure for polishing the weld seam of a welded product. The welding slag on the surface of the weld seam easily affects people's observation of the defects of the weld seam, and it is inconvenient for people to judge whether the weld seam is of good welding quality. Therefore, an intelligent welding robot based on visual detection that can polish the welding slag on the surface of the weld seam is needed to solve the problem.

[0005] 2. The prior art KR1020130026653A discloses a welding robot. The technology does not have a dust collection structure. When polishing the welding slag on the surface of the weld seam, the polished welding slag is easily left on the surface of the weld seam, making it difficult for people to clearly observe the quality of the weld seam. Therefore, an intelligent welding robot based on visual detection that can absorb and remove the polished welding slag is needed to solve the problem.

[0006] 3. The prior art KR1020120060659A discloses a welding robot. The technology does not have a structure for knocking the welded product. When checking the weld seam of the welded product, it is necessary to manually use the product to knock the weld seam part to detect the quality of the weld seam, which is low in detection efficiency and high in labor intensity. Therefore, an intelligent welding robot based on visual detection that can automatically knock the welded product is needed to solve the problem.

[0007] 4. The prior art CN113386151B discloses a welding robot. The technology does not have a noise reduction structure. When knocking the welded product, noise is easily generated. The propagation of noise is through solid and air. By cutting off one propagation path, the harm of noise to people's hearing can be effectively reduced. Therefore, an intelligent welding robot based on visual detection that has a knocking function and has a sound insulation structure is needed to solve the problem. SUMMARY

[0008] One purpose of the present application is to provide an intelligent welding robot based on visual detection and a welding method, which can solve the technical problems in the prior art.

[0009] To achieve the above object, the present application provides the following technical scheme: an intelligent welding robot based on visual detection, comprising a plate body one, a vertical plate one and a motor one, a control unit is installed on the top of the plate body one, the vertical plate one is installed on the top of the plate body one, a plurality of motor ones are installed on the front of the vertical plate one, and the motor ones are electrically connected with the control unit, a lead screw is installed at the output end of the motor one, a moving plate one is installed on the outside of the lead screw, a hydraulic telescopic unit one is installed on the front of the moving plate one, and the hydraulic telescopic unit one is electrically connected with the control unit, a moving plate two is installed at the output end of the hydraulic telescopic unit one, a hydraulic telescopic unit two is installed on the top of the moving plate two, and the hydraulic telescopic unit two is electrically connected with the control unit, a lifting plate one is installed at the output end of the hydraulic telescopic unit two, a motor two is installed on the bottom of the lifting plate one, and the motor two is electrically connected with the control unit, a right-angle plate is installed at the output end of the motor two, a motor three is installed on one side of the right-angle plate, and the motor three is electrically connected with the control unit, a rotating rod one is installed at the output end of the motor three, and one end of the rotating rod one penetrates through one side of the right-angle plate, and a welding mechanism is arranged at one end of the rotating rod one.

[0010] A hydraulic telescopic unit three is installed on the top of the right-angle plate, and the hydraulic telescopic unit three is electrically connected with the control unit, a piston rod is installed at the output end of the hydraulic telescopic unit three, and one end of the piston rod penetrates through the bottom of the right-angle plate, and a polishing mechanism is arranged at one end of the piston rod.

[0011] Preferably, a plurality of support columns are symmetrically installed on the bottom of the plate body one, a plurality of threaded rods one 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 one 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 on the top of the rod body one, and the electric telescopic unit one is electrically connected with the control unit, a pressing plate is installed at the output end of the electric telescopic unit one, and the pressing plate is located below the rod body one.

[0012] 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 lead screw, a rod body three is installed on the front of the vertical plate one, a camera is installed on the bottom of the rod body three, and the camera is electrically connected with the control unit.

[0013] Preferably, the welding mechanism comprises a frame one, a bolt two, a clamping plate and a welding gun, one side of the frame one is connected with one end of the rotating rod one, the bolt two is symmetrically installed through both sides of the frame one, the clamping plate is installed at one end of the bolt two, the welding gun is installed on the inner side of the clamping plate, and the welding gun is electrically connected with the control unit.

[0014] Preferably, the polishing mechanism comprises the second lifting plate, the fourth motor, the second rotating rod, the rubber sleeve and the sand cloth, the top of the second lifting plate is connected with one end of the piston rod, the bottom of the second lifting plate is provided with the fourth motor, the fourth motor is electrically connected with the control unit, the output end of the fourth motor is provided with the second rotating rod, the outer side of the second rotating rod is provided with the rubber sleeve, and the outer side of the rubber sleeve is provided with the sand cloth.

[0015] Preferably, the outer side of the piston rod is provided with the second rod body, one side of the second rod body is provided with the third bolt, the front of the second rod body is provided with the fourth bolt, the top of the second rod body is provided with the suction pipe, the output end of the suction pipe is provided with the hose, the back of the vertical plate one is provided with the dust collector, the dust collector is electrically connected with the control unit, and the input end of the dust collector is connected with the output end of the hose.

[0016] Preferably, the top of the vertical plate one is provided with a plurality of fourth hydraulic telescopic units, the fourth hydraulic telescopic units are electrically connected with the control unit, the output end of the fourth hydraulic telescopic units is provided with the third lifting plate, the top of the third lifting plate is provided with the pressure sensing unit, the pressure sensing unit is electrically connected with the control unit, the top input end of the pressure sensing unit is provided with the second frame, the inner side of the second frame is movably provided with the third rotating rod, and the third rotating rod is located below the hose.

[0017] Preferably, one side of the plate body one is provided with the second plate body, one side of the vertical plate one is provided with the second vertical plate, the back of the second vertical plate is provided with a plurality of fifth hydraulic telescopic units, the fifth hydraulic telescopic units are electrically connected with the control unit, the output end of the fifth hydraulic telescopic units is provided with the third moving plate, the top of the third moving plate is provided with a plurality of second electric telescopic units, the second electric telescopic units are electrically connected with the control unit, the output end of the second electric telescopic units is provided with the push rod, one end of the push rod penetrates through the bottom of the third moving plate, one end of the push rod is provided with the hammer block, the outer side of the push rod is movably provided with the plastic frame, and the inner wall of the plastic frame is provided with the soundproof cotton.

[0018] Preferably, the welding method of the intelligent welding robot based on visual detection is as follows:

[0019] S1, place two plate materials to be welded on the top of the plate body one, then rotate the rod body one to move the pressing plate above the plate materials, and then the pressing plate presses the plate materials;

[0020] S2, the camera shoots the plate material picture, the control unit identifies the welding position of the plate material, then the welding gun moves to the welding position and then moves down to weld the plate material, the moving plate one moves left and right to drive the welding gun to move left and right to weld the plate material, and the third rotating rod moves up and down while supporting the hose, so that the pressure value detected by the pressure sensing unit remains at a set value;

[0021] S3, the sand cloth is driven downward by the hydraulic telescopic unit three, then the sand cloth is driven to rotate by the motor four to polish the weld of the plate, and the welding slag is removed;

[0022] S4, after the welding is completed, the welded plate is pushed to the right side to above the plate body two, after a set time, then the moving plate three is moved forward, and then the hammer block is driven downward by the electric telescopic unit two to hammer the weld of the plate, so as to detect the welding strength of the weld.

[0023] Preferably, the S3 further comprises the following steps:

[0024] S31, then the welding slag is sucked into the suction pipe and transmitted into the inside of the dust collector.

[0025] Compared with the prior art, the present application has the following advantages:

[0026] The present application is provided with a polishing mechanism, which drives the sand cloth downward by the hydraulic telescopic unit three, then drives the sand cloth to rotate by the motor four to polish the weld of the plate, and removes the welding slag, and then the dust collector can suck the welding slag.

[0027] The present application can support the hose by the rotating rod three, avoid the hose from contacting the welded plate, so as to avoid the hose from being damaged, and when the pressure sensing unit detection value is less than the set value, the hydraulic telescopic unit four drives the rotating rod three to move upward, and when the pressure sensing unit detection value is greater than the set value, the hydraulic telescopic unit four drives the rotating rod three to move downward, so as to avoid the hose from being pulled off from the dust collector and the suction pipe while avoiding the hose from contacting the plate.

[0028] The present application moves the moving plate three forward, then drives the hammer block downward by the electric telescopic unit two to hammer the weld of the plate, so as to detect the welding strength and defects of the weld.

[0029] The present application can isolate the noise transmitted in the air when the hammer block knocks the plate by setting the plastic frame and the sound insulation cotton, so as to reduce the noise generated when the hammer block knocks the plate, and reduce the damage to the hearing of the personnel. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a perspective view of the present application;

[0031] Figure 2 It is a schematic view of the guide frame structure of the present application;

[0032] Figure 3 It is a schematic view of the vertical plate one structure of the present application;

[0033] Figure 4 It is a schematic view of the moving plate one, the dust collector and the hydraulic telescopic unit four structure of the present application;

[0034] Figure 5 Figure 2 is a structural diagram of the moving plate two of the present application;

[0035] Figure 6 Figure 3 is a structural diagram of the hydraulic telescopic unit three, the lifting plate two and the rod body two of the present application;

[0036] Figure 7 Figure 4 is a structural diagram of the frame two of the present application;

[0037] Figure 8 Figure 5 is a structural diagram of the vertical plate two of the present application;

[0038] Figure 9 Figure 6 is a structural diagram of the plastic frame of the present application;

[0039] Figure 10 Figure 7 is a flow chart of the welding method of the present application.

[0040] In the figure: 1, plate body one; 2, support column; 3, threaded rod one; 4, guide frame; 5, bolt one; 6, rod body one; 7, electric telescopic unit one; 8, pressing plate; 9, vertical plate one; 10, motor one; 11, screw rod; 12, support plate; 13, moving plate one; 14, hydraulic telescopic unit one; 15, moving plate two; 16, hydraulic telescopic unit two; 17, lifting plate one; 18, motor two; 19, right-angle plate; 20, motor three; 21, rotating rod one; 22, frame one; 23, bolt two; 24, clamping plate; 25, welding gun; 26, hydraulic telescopic unit three; 27, piston rod; 28, lifting plate two; 29, motor four; 30, rubber sleeve; 31, sand cloth; 32, rod body two; 33, bolt three; 34, bolt four; 35, suction pipe; 36, hose; 37, rotating rod two; 38, dust collector; 39, hydraulic telescopic unit four; 40, lifting plate three; 41, pressure sensing unit; 42, frame two; 43, rotating rod three; 44, plate body two; 45, vertical plate two; 46, hydraulic telescopic unit five; 47, moving plate three; 48, electric telescopic unit two; 49, push rod; 50, hammer block; 51, plastic frame; 52, soundproof cotton; 53, control unit; 54, rod body three; 55, camera. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be broadly understood, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] Please refer to Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , an embodiment provided by the present application: intelligent welding robot based on visual detection;

[0045] The utility model provides a welding device, including board body one 1, vertical board one 9, motor one 10 and welding mechanism, the top of board body one 1 is equipped with control unit 53, the top of board body one 1 is equipped with vertical board one 9, the front of vertical board one 9 is equipped with a plurality of motor one 10, and motor one 10 is connected with control unit 53 electric signal, the output of motor one 10 is equipped with lead screw 11, the outside of lead screw 11 is equipped with moving plate one 13, the front of moving plate one 13 is equipped with hydraulic telescopic unit one 14, and hydraulic telescopic unit one 14 is connected with control unit 53 electric signal, the output of hydraulic telescopic unit one 14 is equipped with moving plate two 15, the top of moving plate two 15 is equipped with hydraulic telescopic unit two 16, and hydraulic telescopic unit two 16 is connected with control unit 53 electric signal, the output of hydraulic telescopic unit two 16 is equipped with lifting plate one 17, the bottom of lifting plate one 17 is equipped with motor two 18, and motor two 18 is connected with control unit 53 electric signal, the output of motor two 18 is equipped with right angle plate 19, one side of right angle plate 19 is equipped with motor three 20, and motor three 20 is connected with control unit 53 electric signal, the output of motor three 20 is equipped with rotary rod one 21, and one end of rotary rod one 21 penetrates one side of right angle plate 19, one end of rotary rod one 21 is provided with welding mechanism, and the welding mechanism includes frame one 22, bolt two 23, clamping plate 24 and welder 25, one side of frame one 22 is connected with one end of rotary rod one 21, both sides of frame one 22 are symmetrically equipped with bolt two 23, one end of bolt two 23 is equipped with clamping plate 24, the inside of clamping plate 24 is equipped with welder 25, and welder 25 is connected with control unit 53 electric signal, board body one 1 can provide mounting position for other parts of the equipment, vertical board one 9 plays the role of installing motor one 10, control unit 53 is touch screen industrial computer, can receive the signal of pressure sensing unit 41 and camera 55, can control electric telescopic unit one 7, motor one 10, hydraulic telescopic unit one 14, hydraulic telescopic unit two 16, motor two 18, motor three 20, welder 25, hydraulic telescopic unit three 26, motor four 29, dust collector 38, hydraulic telescopic unit four 39, hydraulic telescopic unit five 46 and electric telescopic unit two 48 simultaneously, motor one 10 can convert electric energy into kinetic energy, thereby drive lead screw 11 to rotate, lead screw 11 can drive moving plate one 13 to move left and right by rotating, moving plate one 13 can drive hydraulic telescopic unit one 14, moving plate two 15, welder 25 and sand cloth 31 to move left and right by moving left and right, hydraulic telescopic unit one 14 is hydraulic cylinder, can convert hydraulic energy into kinetic energy, thereby drive moving plate one 13, welder 25 and sand cloth 31 to move forward and backward, moving plate two 15 can drive welder 25 and sand cloth 31 to move forward and backward by moving forward and backward, hydraulic telescopic unit two 16 is hydraulic cylinder, can convert hydraulic energy into kinetic energy, thereby drive lifting plate one 17 to move up and down, lifting plate one 17 can drive welder 25 and sand cloth 31 to move up and down by moving up and down, motor two 18 can convert electric energy into kinetic energy,Thus drive the right angle plate 19 to rotate, thus change the relative position of the welding gun 25 and the sand cloth 31, the right angle plate 19 can make the sand cloth 31 always polish along the weld after the welding gun 25 welds when the moving direction of the welding gun 25 changes, the motor three 20 can convert electric energy into kinetic energy, thus drive the rotating rod one 21 to rotate, the rotating rod one 21 can drive the frame one 22 to rotate through rotation, thus make the welding gun 25 can change the inclination, make the welding gun 25 can be inclined to the connection position of the horizontal plate and the vertical plate and weld, the frame one 22 can provide the mounting position for the bolt two 23, the bolt two 23 can drive the clamping plate 24 to move back and forth through rotation, the clamping plate 24 can clamp the welding gun 25 through moving to the inside, the welding gun 25 plays the role of welding plate.

[0046] Please refer to Figure 1 、 Figure 3 、 Figure 5 And Figure 6 , the present application provides an embodiment: intelligent welding robot based on visual detection;

[0047] Including hydraulic telescopic unit three 26 and polishing mechanism, the top of the right angle plate 19 is installed with the hydraulic telescopic unit three 26, and the hydraulic telescopic unit three 26 is electrically connected with the control unit 53, the output end of the hydraulic telescopic unit three 26 is installed with the piston rod 27, and the one end of the piston rod 27 penetrates the bottom of the right angle plate 19, and the one end of the piston rod 27 is provided with the polishing mechanism, the polishing mechanism includes the lifting plate two 28, the motor four 29, the rotating rod two 37, the rubber sleeve 30 and the sand cloth 31, the top of the lifting plate two 28 is connected with the one end of the piston rod 27, the bottom of the lifting plate two 28 is installed with the motor four 29, and the motor four 29 is electrically connected with the control unit 53, the output end of the motor four 29 is installed with the rotating rod two 37, the outside of the rotating rod two 37 is installed with the rubber sleeve 30, and the outside of the rubber sleeve 30 is installed with the sand cloth 31, the hydraulic telescopic unit three 26 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thus driving the piston rod 27 to move up and down, the piston rod 27 can drive the lifting plate two 28 to move up and down through up and down movement, the lifting plate two 28 can drive the sand cloth 31 and the rod body two 32 to move up and down through up and down movement, the motor four 29 can convert electric energy into kinetic energy, thus driving the rotating rod two 37 to rotate, the rotating rod two 37 can drive the rubber sleeve 30 and the sand cloth 31 to rotate through rotation, the rubber sleeve 30 is soft rubber, which can deform, so that the sand cloth 31 can deform to polish the welding position more comprehensively.

[0048] Please refer to Figure 1 And Figure 2 , the present application provides an embodiment: intelligent welding robot based on visual detection;

[0049] The bottom of the plate body one 1 is symmetrically provided with a plurality of supports 2, the top of the plate body one 1 is symmetrically provided with a plurality of threaded rods one 3, one end of the threaded rod one 3 is provided with a guide frame 4, the top of the guide frame 4 is provided with a bolt one 5, the inner side of the guide frame 4 is movably provided with a rod body one 6, the top of the rod body one 6 is provided with an electric telescopic unit one 7, the electric telescopic unit one 7 is electrically connected with the control unit 53, the output end of the electric telescopic unit one 7 is provided with a pressing plate 8, and the pressing plate 8 is located below the rod body one 6, the support 2 can support the plate body one 1, the threaded rod one 3 can provide an installation position for the guide frame 4, and the threaded rod one 3 can rotate, so that the guide frame 4 can rotate, the guide frame 4 can provide a guide for the rod body one 6, and the rod body one 6 can move left and right, the electric telescopic unit one 7 is an electric telescopic rod, can convert electric energy into kinetic energy, thereby driving the pressing plate 8 to move up and down, and the pressing plate 8 can press the plate placed above the plate body one 1 by moving downward, so that the plate is prevented from moving.

[0050] Referring to Figure 1 , the application provides an embodiment of a visual detection-based intelligent welding robot.

[0051] The front of the vertical plate one 9 is provided with a plurality of support plates 12, and the support plates 12 are located on the outer side of the lead screw 11, the front of the vertical plate one 9 is provided with a rod body three 54, the bottom of the rod body three 54 is provided with a camera 55, and the camera 55 is electrically connected with the control unit 53, the support plate 12 can provide support for one end of the lead screw 11, so as to prevent the lead screw 11 from bending downward, the rod body three 54 can provide an installation position for the camera 55, and the camera 55 can shoot the plate placed above the plate body one 1, so as to facilitate the control unit 53 to judge the welding position of the plate.

[0052] Referring to Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the application provides an embodiment of a visual detection-based intelligent welding robot.

[0053] The outer side of the piston rod 27 is provided with a rod body two 32, one side of the rod body two 32 is provided with a bolt three 33, the front of the rod body two 32 is provided with a bolt four 34, the top of the rod body two 32 is provided with a suction pipe 35, the output end of the suction pipe 35 is provided with a hose 36, the back of the vertical plate one 9 is provided with a dust collector 38, and the dust collector 38 is electrically connected with the control unit 53, and the input end of the dust collector 38 is connected with the output end of the hose 36, the rod body two 32 can provide a mounting position for the suction pipe 35, the bolt three 33 can extrude the piston rod 27 by rotating, so that the stability of the rod body two 32 outside the piston rod 27 is ensured, the bolt four 34 can extrude and fix the suction pipe 35 by rotating, so that the stability of the suction pipe 35 inside the rod body two 32 is ensured, the suction pipe 35 can provide a transmission path for the welding slag entering the inside of the hose 36, and the dust collector 38 can make the welding slag be absorbed into the inside of the suction pipe 35, and the hose 36 can provide a transmission path for the welding slag in the inside of the suction pipe 35 to enter the inside of the dust collector 38.

[0054] Please refer to Figure 1 、 Figure 3 、 Figure 4 And Figure 7 , the present application provides an embodiment: intelligent welding robot based on visual detection;

[0055] The top of the vertical plate one 9 is provided with a plurality of hydraulic telescopic units four 39, and the hydraulic telescopic units four 39 are electrically connected with the control unit 53, the output end of the hydraulic telescopic units four 39 is provided with a lifting plate three 40, the top of the lifting plate three 40 is provided with a pressure sensing unit 41, and the pressure sensing unit 41 is electrically connected with the control unit 53, the top input end of the pressure sensing unit 41 is provided with a frame two 42, the inside of the frame two 42 is provided with a rotating rod three 43 in a movable manner, and the rotating rod three 43 is located below the hose 36, the hydraulic telescopic units four 39 are hydraulic cylinders, which can convert hydraulic energy into kinetic energy, so as to drive 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 a mounting position for the rotating rod three 43, and the rotating rod three 43 can provide support for the hose 36, so that the hose 36 is prevented from contacting the plate above the plate body one 1.

[0056] Please refer to Figure 1 、 Figure 8 And Figure 9 , the present application provides an embodiment: intelligent welding robot based on visual detection;

[0057] The side of the plate body one 1 is provided with the plate body two 44, the side of the vertical plate one 9 is provided with the vertical plate two 45, the back of the vertical plate two 45 is provided with a plurality of hydraulic telescopic units five 46, and the hydraulic telescopic units five 46 are electrically connected with the control unit 53, the output end of the hydraulic telescopic units five 46 is provided with the moving plate three 47, the top of the moving plate three 47 is provided with a plurality of electric telescopic units two 48, and the electric telescopic units two 48 are electrically connected with the control unit 53, the output end of the electric telescopic units two 48 is provided with the push rod 49, one end of the push rod 49 penetrates through the bottom of the moving plate three 47, one end of the push rod 49 is provided with the hammer block 50, the outer side of the push rod 49 is movably provided with the plastic frame 51, the inner wall of the plastic frame 51 is provided with the sound insulation cotton 52, the plate body two 44 can provide a placement position for the plate material after welding, the vertical plate two 45 can provide an installation position for the hydraulic telescopic units five 46, the hydraulic telescopic units five 46 are hydraulic cylinders, which can convert hydraulic energy into kinetic energy to drive the moving plate three 47 to move forward and backward, the moving plate three 47 can drive the electric telescopic units two 48 and the hammer block 50 to move forward and backward through forward and backward movement, the electric telescopic units two 48 are electric telescopic rods, which can convert electric energy into kinetic energy to drive the push rod 49 to move up and down, the push rod 49 can drive the hammer block 50 to move up and down through up and down movement, the hammer block 50 can knock the plate material placed above the plate body two 44 through downward movement, thereby facilitating detection of the knock resistance of the weld of the plate material, the plastic frame 51 can provide an installation position for the sound insulation cotton 52, and the sound insulation cotton 52 plays a sound insulation role, which can reduce the noise transmitted through the air when the hammer block 50 knocks the plate material, thereby reducing the harm of noise to human hearing.

[0058] The welding method of the intelligent welding robot based on visual detection is as follows:

[0059] S1, place two plate materials to be welded on the top of the plate body one 1, then rotate the rod body one 6 to move the pressing plate 8 above the plate materials, and then the pressing plate 8 presses the plate materials;

[0060] S2, the camera 55 shoots a picture of the plate materials, the control unit 53 identifies the welding position of the plate materials, then the welding gun 25 moves to the welding position and then moves downward to weld the plate materials, the moving plate one 13 moves left and right to drive the welding gun 25 to move left and right to weld the plate materials, and the rotating rod three 43 moves up and down while supporting the hose 36, so that the pressure value detected by the pressure sensing unit 41 remains at a set value;

[0061] S3, the hydraulic telescopic unit three 26 drives the abrasive cloth 31 to move downward, then the motor four 29 drives the abrasive cloth 31 to rotate to polish the plate material weld, and remove the welding slag;

[0062] S4, after welding, the completed plate is pushed to the right to the plate body two 44, after a set time, then the moving plate three 47 moves forward, then the electric telescopic unit two 48 drives the hammer block 50 to move down to hammer the plate weld to detect the welding strength of the weld.

[0063] In S3, the following steps are also included:

[0064] S31, then the dust collector 38 sucks the welding slag from the suction pipe 35 and transmits it into the interior of the dust collector 38.

[0065] Working principle: before using the visual detection based intelligent welding robot, it is necessary to check whether the visual detection based intelligent welding robot has an impact on the use, place the two plates to be welded on the top of the plate body one 1, then rotate the rod body one 6 to move the pressing plate 8 above the plate, then the pressing plate 8 presses the plate, the camera 55 takes a picture of the plate, the control unit 53 identifies the welding position of the plate, then the welding gun 25 moves to the welding position and then moves down to weld the plate, the moving plate one 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 three 43 supports the hose 36 while moving up and down, so that the pressure value detected by the pressure sensing unit 41 remains at a set value, when the pressure sensing unit 41 detects a value less than the set value, the hydraulic telescopic unit four 39 drives the rotating rod three 43 to move upward, when the pressure sensing unit 41 detects a value 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 sand cloth 31 to move down, then the motor four 29 drives the sand cloth 31 to rotate to polish the plate weld, remove the welding slag, then the dust collector 38 sucks the welding slag from the suction pipe 35 and transmits it into the interior of the dust collector 38, after welding, the completed plate is pushed to the right to the plate body two 44, after a set time, then the staff controls the hydraulic telescopic unit five to drive the moving plate three 47 to move forward, then the electric telescopic unit two 48 drives the hammer block 50 to move down to hammer the plate weld to detect the welding strength of the weld.

[0066] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but rather that it can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the application being defined by the appended claims rather than by the above description, and it is therefore intended that all changes and modifications that fall within the meaning and range of equivalency of the claims be embraced therein, and no limitation should be imposed by the recitation of a particular number of elements or components nor the arrangement and order of such elements or components as set forth and described herein.

Claims

1. A vision-based intelligent welding robot, characterized in that: The system includes a plate (1), a vertical plate (9), and a motor (10). A control unit (53) is installed on the top of the plate (1). A vertical plate (9) is installed on the top of the plate (1). Multiple 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 lead screw (11) is installed at the output end of the motor (10). A movable plate (13) is installed on the outside of the lead screw (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 (15) is installed at the output end of the hydraulic telescopic unit (14). The top of the movable plate (15) is... 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). A welding mechanism is provided at one end of the rotating rod 1 (21). The top of the right-angle plate (19) is equipped with a hydraulic telescopic unit three (26), and the hydraulic telescopic unit three (26) is electrically connected to the control unit (53). The output end of the hydraulic telescopic unit three (26) is equipped with a piston rod (27), and one end of the piston rod (27) penetrates 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 second lifting plate (28), a fourth motor (29), a second rotating rod (37), a rubber sleeve (30), and a sandpaper (31). The top of the second lifting plate (28) is connected to one end of the piston rod (27). The fourth motor (29) is installed at the bottom of the second lifting plate (28), and the fourth motor (29) is electrically connected to the control unit (53). The output end of the fourth motor (29) is equipped with the second rotating rod (37). The outer side of the second rotating rod (37) is equipped with a rubber sleeve (30), and the outer side of the rubber sleeve (30) is equipped with a sandpaper (31). A rod body two (32) is installed on the outside of the piston rod (27). A bolt three (33) is installed through one side of the rod body two (32). A bolt four (34) is installed through the front of the rod body two (32). A suction tube (35) is installed through the top of the rod body two (32). A hose (36) is installed at the output end of the suction tube (35). A vacuum cleaner (38) is installed on the back of the upright plate one (9). The vacuum cleaner (38) is electrically connected to the control unit (53). The input end of the vacuum cleaner (38) is connected to the output end of the hose (36). Multiple hydraulic telescopic units four (39) are installed on the top of the upright 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 at 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 two (42) is installed at the top input end of the pressure sensing unit (41). A rotating rod three (43) is movably installed through the inner side of the frame two (42), and the rotating rod three (43) is located below the hose (36). A plate two (44) is installed on one side of the plate one (1), and an upright plate two (45) is installed on one side of the upright plate one (9). A hammer block (50) is connected to the upright plate two (45) through a hydraulic telescopic unit five (46), an electric telescopic unit two (48), and a push rod (49).

2. The intelligent welding robot based on vision inspection according to claim 1, characterized in that: Multiple support columns (2) are symmetrically installed at the bottom of the plate (1), and multiple threaded rods (3) are symmetrically installed through the top of the plate (1). A guide frame (4) is installed at one end of the threaded rod (3), and a bolt (5) is installed through the top of the guide frame (4). A rod (6) is movably installed on the inner side of the guide frame (4), and an electric telescopic unit (7) is installed on the top of the rod (6). The electric telescopic unit (7) is electrically connected to the control unit (53). 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 (6).

3. The intelligent welding robot based on vision detection according to claim 2, characterized in that: The front of the first upright plate (9) is equipped with multiple support plates (12), and the support plates (12) are located outside the lead screw (11). The front of the first upright plate (9) is equipped with a third rod (54), and a camera (55) is installed at the bottom of the third rod (54). The camera (55) is electrically connected to the control unit (53).

4. The intelligent welding robot based on vision inspection according to claim 3, characterized in that: The welding mechanism includes a frame (22), bolts (23), a clamp (24), and a welding torch (25). One side of the frame (22) is connected to one end of the rotating rod (21). Bolts (23) are symmetrically installed through both sides of the frame (22). A clamp (24) is installed at one end of bolts (23). A welding torch (25) is installed on the inner side of the clamp (24). The welding torch (25) is electrically connected to the control unit (53).

5. The intelligent welding robot based on vision inspection according to claim 4, characterized in that: Multiple hydraulic telescopic units five (46) are installed on the back of the upright plate two (45), and the hydraulic telescopic units five (46) are electrically connected to the control unit (53). The output end of the hydraulic telescopic unit five (46) is equipped with a movable plate three (47). Multiple electric telescopic units two (48) are installed on the top of the movable plate three (47), and the electric telescopic units two (48) are electrically connected to the control unit (53). The output end of the electric telescopic unit two (48) is equipped with a push rod (49), and one end of the push rod (49) penetrates the bottom of the movable plate three (47). A hammer block (50) is installed on one end of the push rod (49). A plastic frame (51) is movably installed on the outside of the push rod (49), and sound insulation cotton (52) is installed on the inner wall of the plastic frame (51).

6. The welding method of the intelligent welding robot based on vision detection according to claim 5, characterized in that: The welding method of the vision-based intelligent welding robot is as follows: S1. Place the two plates to be welded on top of the plate body (1), move the pressure plate (8) above the plates, and then press the plates with the pressure plate (8). S2. The camera (55) takes pictures 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 moves down to weld the plate. The moving plate (13) moves left and right, driving the welding gun (25) to move left and right to weld the plate. 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) remains at the set value. S3, the hydraulic telescopic unit three (26) drives the sandpaper (31) to move down, and then the motor four (29) drives the sandpaper (31) to rotate to polish the weld seam of the plate and remove the welding slag; S4. After welding is completed, push the welded plate to the right and above the plate body two (44). After a set time, move the plate three (47) forward. Then, the electric telescopic unit two (48) drives the hammer block (50) to move down to hammer the weld of the plate to test the welding strength of the weld.

7. The welding method of the vision-based intelligent welding robot according to claim 6, characterized in that: The S3 process also includes the following steps: S31. Then the vacuum cleaner (38) sucks in the welding slag from the suction pipe (35) and transfers it into the vacuum cleaner (38).

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