Automatic welding device based on machine vision

Abstract

The invention discloses an automatic welding device based on machine vision, and relates to the technical field of welding devices.The automatic welding device comprises a base, a supporting column is fixedly connected to the upper surface of the base, an operation bottom plate is movably connected to the top end of the supporting column, and a net plate is fixedly connected to the middle of the operation bottom plate; and one side of the base is fixedly connected with a main control box. A first workpiece to be welded and a second workpiece to be welded are placed on the fixing bottom plates correspondingly, then the connecting plate is rotated through the shaft, the position of the pressing plate is adjusted, the pressing plate is driven to move downwards through the clamping telescopic rod, the workpieces are fixed, and then the sliding rods are driven to rotate through the second driving devices on the two sides of the front center plate and the rear center plate correspondingly; therefore, the displacement baffle is driven to move to different positions along the sliding rod, the transverse displacement range of the multidirectional mechanical arm and the welding head is limited, and the problem that the multidirectional mechanical arm and the welding head shake due to frequent reciprocating movement, and the welding seam quality is affected is solved.

Description

Technical Field

[0001] The invention relates to the technical field of welding devices, and in particular to an automatic welding device based on machine vision. Background Art

[0002] Welding is a process of joining two or more materials of the same or different types into one by combining and diffusing atoms or molecules. It is also called fusion or melting. It is a manufacturing process and technology that uses heating, high temperature or high pressure to join metals or other thermoplastic materials such as plastics.

[0003] The automatic welding device based on machine vision is a device that uses machine vision technology to realize the automation of welding processing. It combines machine vision and welding technology, can monitor and control the welding process in real time, and realize high-precision and high-efficiency welding processing.

[0004] When welding, you first need to fix the two irregular workpieces. When the gap between the workpieces is small, you can use the arc welding method to lay the foundation. Do not extinguish the arc during welding. Lift the arc once, and then lift the arc again until the entire smaller gap is primed. For the part with a larger gap, you need to use the broken arc welding method to lay a layer of foundation. When welding, start the arc from the left and swing to the right, and then start the arc from the right and swing to the left. Use this method to fill the gap in turn. Each arc must wait until the color of the molten pool of the previous arc turns red and darker before proceeding to the next arc welding.

[0005] In the process of the welding head moving horizontally to fill the gap, due to the large mass of the welding head and the robot arm itself, the welding head part is very easy to shake during the frequent and reciprocating movement, which increases the contact area between the welding head and the workpiece, and the temperature of the welding head part will drop rapidly, making it impossible for the welding head to melt enough metal for replenishment, resulting in an increased possibility of undercut. If the undercut is too deep, it will significantly weaken the strength of the welded joint, causing local stress concentration, and then cracks will be generated at the undercut when bearing, affecting the quality of the weld. Therefore, this application proposes an automated welding device based on machine vision to solve the above problems. Summary of the invention

[0006] The present invention provides an automatic welding device based on machine vision to solve the problems raised in the above background technology.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0008] An automated welding device based on machine vision comprises a base, the upper surface of the base is fixedly connected with a support column, the top of the support column is movably connected with an operating base plate, the middle of the operating base plate is fixedly connected with a mesh plate, one side of the base is fixedly connected with a main control box, both sides of the rear end of the base are fixedly connected with lifting rods, a cross bar is fixedly connected between the output ends of the two lifting rods, a driving device 1 is movably connected to the cross bar, the bottom of the driving device 1 is fixedly connected with a longitudinal rod, the bottom end of the longitudinal rod is movably connected with a multi-directional mechanical arm, the bottom end of the multi-directional mechanical arm is fixedly connected with a welding head, and two sets of clamping mechanisms are movably connected to the operating base plate to clamp and fix two irregular workpieces in opposite directions.

[0009] A smart camera is fixedly connected to one side of the multi-directional robotic arm. The smart camera is used to collect information about irregular welds between two workpieces to be welded, and upload the information to a main control box to analyze the weld information.

[0010] The front end of the base is fixedly connected to a U-shaped frame, the middle of the horizontal plate of the U-shaped frame is fixedly connected to a front central plate, the upper surface of the base is fixedly connected to a rear central plate, the rear central plate is aligned with the front central plate, and two groups of displacement cross-piece mechanisms are arranged on both sides of the front central plate and the rear central plate. During the lateral displacement of the multi-directional robotic arm and the welding head, the lateral displacement range of the multi-directional robotic arm and the welding head is limited by the displacement cross-piece mechanism.

[0011] A further improvement of the technical solution of the present invention is that the displacement cross bar mechanism includes a fixed block fixedly connected to the driving device 1 and the fixed end of the lifting rod, and a sliding rod is movably connected between the fixed block and the rear central plate, and between the fixed block and the front central plate, and a displacement baffle is movably connected on the outer surface of the sliding rod.

[0012] A further improvement of the technical solution of the present invention is that: thread grooves are provided at both ends of the displacement baffle, and threads matching the inner walls of the thread grooves are provided on the outer surface of the slide rod.

[0013] A further improvement of the technical solution of the present invention is that: a second driving device is fixedly connected to one side of the fixed block, and an output shaft of the second driving device is fixedly connected to one end of the sliding rod.

[0014] A further improvement of the technical solution of the present invention is that the upper surface of the displacement baffle is movably connected with a heightening plate, both ends of the heightening plate are threadedly connected with fixing bolts, and one end of the fixing bolts extends through the heightening plate to the inside of the displacement baffle and is threadedly connected to the inner wall of the displacement baffle.

[0015] A further improvement of the technical solution of the present invention is that a clamping groove is provided in the middle of one side of the operating bottom plate close to the lifting rod, and the clamping groove is movably connected to the outer surface of the rear central plate.

[0016] A further improvement of the technical solution of the present invention lies in that the clamping mechanism is fixedly connected to the bottom sliding column on the upper surface of the operating base plate, the upper surface of the bottom sliding column is movably connected with an ear plate, one end of the ear plate is fixedly connected to the fixed base plate, the bottom of the fixed base plate is fixedly connected with a connecting cross plate, the two ends of the connecting cross plate are movably connected with connecting plates through axes, the upper surface of the connecting plate is fixedly connected with a clamping telescopic rod, and the output end of the clamping telescopic rod is fixedly connected with a pressure plate:.

[0017] A further improvement of the technical solution of the present invention is that a second slide block is fixedly connected to the lower surface of the ear plate, a second slide groove is provided on the bottom slide column, and the outer surface of the second slide block is movably connected to the inner wall of the second slide groove.

[0018] A further improvement of the technical solution of the present invention is that a slider 1 is fixedly connected to the lower surface of the operating base plate, a slide groove 1 is provided at the top of the support column, and the outer surface of the slider 1 is movably connected to the inner wall of the slide groove 1.

[0019] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0020] 1. The present invention provides an automated welding device based on machine vision, which places workpiece 1 and workpiece 2 to be welded on a fixed bottom plate respectively, and then rotates the connecting plate through an axis to adjust the position of the pressure plate, and then drives the pressure plate to move downward through the clamping telescopic rod, thereby generating a downward force on workpiece 1 and workpiece 2 to fix the workpieces, and then uses an intelligent camera to perform an initial analysis of the larger welds formed by workpiece 1 and workpiece 2, and then drives the rotation of the slide bar through the driving device 2 on both sides of the front central plate and the rear central plate, thereby driving the displacement baffle to move to different positions along the slide bar, limiting the lateral displacement range of the multi-directional robot arm and the welding head, and avoiding the problem that the multi-directional robot arm and the welding head shake due to frequent reciprocating movement, thereby affecting the quality of the weld.

[0021] 2. The present invention provides an automated welding device based on machine vision. Through the action of slider 1 and slide groove 1, the operating base plate is pulled outward, and then workpiece 1 and workpiece 2 can be fixed on two fixed base plates and pushed back to their original positions for welding. After welding is completed, the operating base plate is pulled outward again to take out the welded workpiece.

[0022] 3. The present invention provides an automatic welding device based on machine vision. Through the action of the slider 2, the fixed base plate can slide along the bottom slide column, so that workpieces of different sizes can be fixed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the operating base plate of the present invention after being pulled out;

[0025] Figure 3 This is a schematic diagram of the structure of the displacement baffle of the present invention when it is working;

[0026] Figure 4 It is a structural schematic diagram of the back side of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the clamping mechanism of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the fixed bottom plate of the present invention;

[0029] Figure 7 For the present invention Figure 6 A schematic diagram of the structure from another angle;

[0030] Figure 8 It is a schematic diagram of the structure of the displacement baffle and the heightening plate of the present invention;

[0031] Fig. 9 It is a schematic diagram of the analysis structure of the weld of the present invention.

[0032] In the figure: 1. base; 2. support column; 3. operating base plate; 4. slider 1; 5. slide 1; 6. main control box; 7. lifting rod; 8. U-shaped frame; 9. drive device 1; 10. cross bar; 11. longitudinal bar; 12. smart camera; 13. multi-directional robotic arm; 14. welding head; 15. fixed base plate; 16. ear plate; 17. bottom slide column; 18. slide 2; 19. connecting cross plate; 20. connecting plate; 21. clamping telescopic rod; 22. pressure plate; 23. slider 2; 24. fixed block; 25. slide rod; 26. front central plate; 27. drive device 2; 28. displacement baffle; 29. ​​rear central plate; 30. slot; 31. mesh plate; 32. threaded groove; 33. heightening plate; 34. fixing bolt. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with embodiments:

[0034] Example:

[0035] like Figure 1-9As shown, it includes a base 1, the upper surface of the base 1 is fixedly connected with a support column 2, the top of the support column 2 is movably connected with an operating base plate 3, the middle of the operating base plate 3 is fixedly connected with a mesh plate 31, one side of the base 1 is fixedly connected with a main control box 6, the two sides of the rear end of the base 1 are fixedly connected with lifting rods 7, a cross bar 10 is fixedly connected between the output ends of the two lifting rods 7, the cross bar 10 is movably connected with a driving device 9, the bottom of the driving device 9 is fixedly connected with a longitudinal rod 11, the bottom end of the longitudinal rod 11 is movably connected with a multi-directional mechanical arm 13, the bottom end of the multi-directional mechanical arm 13 is fixedly connected with a welding head 14, and two sets of clamping mechanisms are movably connected in opposite directions on the operating base plate 3 to clamp and fix two irregular workpieces in opposite directions.

[0036] A smart camera 12 is fixedly connected to one side of the multi-directional robot arm 13. The smart camera 12 is used to collect information about irregular welds between two workpieces to be welded, and upload the information to the main control box 6 to analyze the weld information.

[0037] A U-shaped frame 8 is fixedly connected to the front end of the base 1, a front central plate 26 is fixedly connected to the middle of the horizontal plate of the U-shaped frame 8, a rear central plate 29 is fixedly connected to the upper surface of the base 1, the rear central plate 29 is aligned with the front central plate 26, two sets of displacement cross-piece mechanisms are arranged on both sides of the front central plate 26 and the rear central plate 29, and during the lateral displacement of the multi-directional robotic arm 13 and the welding head 14, the lateral displacement range of the multi-directional robotic arm 13 and the welding head 14 is limited by the displacement cross-piece mechanism.

[0038] The lifting rod 7, the driving device 9, the cross bar 10, the longitudinal bar 11 and the multi-directional robot arm 13 are prior arts. Through the cooperation of the above structures, the welding head 14 can be moved to a suitable position to facilitate welding of the workpiece. The main control box 6 and the smart camera 12 are prior arts. When the workpiece 1 and the workpiece 2 to be welded are aligned and fixed on the multi-directional robot arm 13 respectively through the clamping mechanism, the irregular welds formed by the workpiece 1 and the workpiece 2 are first analyzed by the smart camera 12. At the same time, during the welding process of the welding head 14, the welding process is monitored in real time, and the monitored information is transmitted to the main control box 6 in real time. The transmitted weld information is monitored and analyzed in real time through the main control box 6, and the welding position is adjusted or other operations are performed according to different weld conditions.

[0039] After an initial analysis of the weld, the displacement crossbar mechanism can be used to limit the position of the multi-directional robot arm 13 and the welding head 14 during lateral movement during welding to prevent the multi-directional robot arm 13 and the welding head 14 from shaking due to frequent reciprocating movement, which increases the contact area between the welding head 14 and the workpiece, and the temperature of part of the welding head 14 drops rapidly, making it impossible for the welding head 14 to melt enough metal for replenishment, resulting in an increased possibility of undercutting.

[0040] Furthermore, the displacement cross bar mechanism includes a fixed block 24 fixedly connected to the driving device 9 and the fixed end of the lifting rod 7, and a sliding rod 25 is movably connected between the fixed block 24 and the rear central plate 29, and between the fixed block 24 and the front central plate 26. A displacement baffle 28 is movably connected to the outer surface of the sliding rod 25, and the moving position of the displacement baffle 28 will be adjusted in real time according to the lateral movement range of the multi-directional robot arm 13 and the welding head 14.

[0041] Furthermore, thread grooves 32 are provided at both ends of the displacement baffle 28, and threads matching the inner walls of the thread grooves 32 are provided on the outer surface of the slide rod 25. The displacement baffle 28 is threadedly connected to the slide rod 25, and the displacement baffle 28 can be driven to move along the slide rod 25 by rotating the slide rod 25.

[0042] Furthermore, a second driving device 27 is fixedly connected to one side of the fixed block 24 , and an output shaft of the second driving device 27 is fixedly connected to one end of the slide bar 25 . The second driving device 27 can drive the slide bar 25 to rotate, thereby driving the displacement baffle 28 to move.

[0043] Furthermore, the upper surface of the displacement baffle 28 is movably connected with a heightening plate 33, and both ends of the heightening plate 33 are threadedly connected with fixing bolts 34. The fixing bolts 34 pass through the heightening plate 33 and extend to one end inside the displacement baffle 28 and are threadedly connected to the inner wall of the displacement baffle 28. When welding workpieces of different thicknesses, the height of the welding head 14 may change. By installing a heightening plate 33 on the upper surface of the displacement baffle 28, it can be ensured that both sides of the welding head 14 are in contact with the displacement baffle 28, thereby forming a displacement limit.

[0044] Furthermore, a slot 30 is provided in the middle of one side of the operating base plate 3 close to the lifting rod 7 , and the slot 30 is movably connected to the outer surface of the rear central plate 29 to ensure that the sliding of the operating base plate 3 along the support column 2 is not affected.

[0045] Furthermore, the clamping mechanism is fixedly connected to the bottom slide column 17 on the upper surface of the operating base plate 3, and the upper surface of the bottom slide column 17 is movably connected with an ear plate 16, one end of the ear plate 16 is fixedly connected to the fixed base plate 15, and the bottom of the fixed base plate 15 is fixedly connected to a connecting cross plate 19, and the two ends of the connecting cross plate 19 are movably connected to a connecting plate 20 through an axis, and the upper surface of the connecting plate 20 is fixedly connected to a clamping telescopic rod 21, and the output end of the clamping telescopic rod 21 is fixedly connected to a pressing plate 22, and the two fixed base plates 15 are symmetrically distributed about the center line of the upper surface of the operating base plate 3, and then the workpiece 1 and the workpiece 2 are respectively placed on the fixed base plate 15, and then the connecting plate 20 is rotated along the axis to adjust the position of the pressing plate 22, and then the pressing plate 22 is driven downward by the clamping telescopic rod 21, so as to generate a downward force on the workpiece 1 and the workpiece 2, and fix the workpieces.

[0046] Furthermore, a slider 23 is fixedly connected to the lower surface of the ear plate 16, and a slide groove 18 is provided on the bottom slide column 17. The outer surface of the slider 23 is movably connected to the inner wall of the slide groove 18. Through the action of the slider 23, the fixed bottom plate 15 can slide along the bottom slide column 17, so that workpieces of different sizes can be fixed.

[0047] Furthermore, a slider 4 is fixedly connected to the lower surface of the operating base plate 3, and a slide groove 5 is provided at the top of the support column 2. The outer surface of the slider 4 is movably connected to the inner wall of the slide groove 5. The operating base plate 3 is pulled outward, and then the workpieces 1 and 2 can be fixed on the two fixed base plates 15 and pushed back to their original positions for welding. After welding is completed, the operating base plate 3 is pulled outward again to take out the welded workpieces.

[0048] Depend on Fig. 9 As shown, the working steps of real-time position adjustment of the displacement baffle 28 according to the lateral movement range of the multi-directional robot arm 13 are as follows:

[0049] Step 1: First, fix workpiece 1 and workpiece 2 on the fixed base plate 15 in sequence, and then use the smart camera 12 to perform an initial analysis of the larger weld formed by workpiece 1 and workpiece 2;

[0050] Step 2: Build a in the gap of workpiece 1 1 、a 2 、a 3 ......a n , a total of n welding points, build b at the gap of workpiece 2 1 , b 2 , b 3 ......b n , the gap at one workpiece is an irregular gap, the gap at the second workpiece is a regular gap, a total of n welding points, a 1 、a 2 、a 3 ......a n With b 1 , b 2 , b 3 ......b n Symmetrical setting, c 1 for a 1 The lateral distance between the fixed block 24 on the corresponding side, c 2 for a 2 The lateral distance between the fixed block 24 on the corresponding side, c n for a n The lateral distance between the fixed block 24 on the corresponding side, the distance between the central axis of the welding head 14 and the two sides of the multi-directional robot arm 13 is e;

[0051] Step 3: When welding begins, the welding head 14 starts from a 1 At this time, the displacement baffle 28 corresponding to one side of the workpiece moves to a distance c from the fixed block 24. 1 -e, the displacement baffle 28 corresponding to the second side of the workpiece moves to b 1 、b 2 、b 3 ......b n The gap formed is fixed, and when the welding head 14 moves to b 1 During the process, the displacement baffle 28 corresponding to one side of the workpiece is displaced to a distance c from the fixed block 24. 2 -e, the welding head 14 moves to b 1 When the displacement stopper 28 on the corresponding side is restrained, it moves to b 2 Then move horizontally to a 2 When the workpiece is at a certain position, it is restricted by the displacement baffle 28 on the corresponding side and will not continue to shake toward the workpiece;

[0052] Step 4: Repeat the horizontal movement process in step 3, and repeat this cycle. Fig. 9 Move in the direction of the arrow until the larger irregular gap formed by workpiece 1 and workpiece 2 is primed.

[0053] The following is a detailed description of the working principle of the automatic welding device based on machine vision.

[0054] like Figure 1-9 As shown, the workpiece 1 and the workpiece 2 to be welded are placed on the fixed bottom plate 15 respectively, and then the connecting plate 20 is rotated by the axis to adjust the position of the pressure plate 22, and then the pressure plate 22 is driven downward by the clamping telescopic rod 21 to generate a downward force on the workpiece 1 and the workpiece 2 to fix the workpiece, and then the intelligent camera 12 is used to perform an initial analysis of the larger welds formed by the workpieces 1 and 2, and then the slide bar 25 is driven to rotate by the driving device 2 27 on both sides of the front central plate 26 and the rear central plate 29, thereby driving the displacement baffle 28 to move to different positions along the slide bar 25, limiting the lateral displacement range of the multi-directional robot arm 13 and the welding head 14, and avoiding the problem that the multi-directional robot arm 13 and the welding head 14 shake due to frequent reciprocating movement, thereby affecting the quality of the weld.

Claims

1. An automatic welding device based on machine vision, comprising a base (1), the upper surface of the base (1) is fixedly connected to a support column (2), the top of the support column (2) is movably connected to an operating base plate (3), the middle of the operating base plate (3) is fixedly connected to a mesh plate (31), one side of the base (1) is fixedly connected to a main control box (6), both sides of the rear end of the base (1) are fixedly connected to lifting rods (7), a cross bar (10) is fixedly connected between the output ends of the two lifting rods (7), a driving device (9) is movably connected to the cross bar (10), the bottom of the driving device (9) is fixedly connected to a longitudinal rod (11), the bottom end of the longitudinal rod (11) is movably connected to a multi-directional mechanical arm (13), and the bottom end of the multi-directional mechanical arm (13) is fixedly connected to a welding head (14), characterized in that: The operating base plate (3) is provided with two sets of clamping mechanisms which are movably connected in opposite directions to clamp and fix two irregular workpieces in opposite directions; A smart camera (12) is fixedly connected to one side of the multi-directional mechanical arm (13), and the smart camera (12) is used to collect information about irregular welds between two workpieces to be welded, and upload the information to a main control box (6) to analyze the weld information; The front end of the base (1) is fixedly connected to a U-shaped frame (8), the middle of the transverse plate of the U-shaped frame (8) is fixedly connected to a front central plate (26), the upper surface of the base (1) is fixedly connected to a rear central plate (29), the rear central plate (29) is arranged in alignment with the front central plate (26), two groups of displacement cross-piece mechanisms are arranged on both sides of the front central plate (26) and the rear central plate (29), and during the transverse displacement of the multi-directional mechanical arm (13) and the welding head (14), the transverse displacement range of the multi-directional mechanical arm (13) and the welding head (14) is limited by the displacement cross-piece mechanism.

2. The automatic welding device based on machine vision according to claim 1, characterized in that: The displacement crossbar mechanism comprises a fixed block (24) fixedly connected to a driving device (9) and a fixed end of a lifting rod (7); a sliding rod (25) is movably connected between the fixed block (24) and a rear central plate (29) and between the fixed block (24) and a front central plate (26); and a displacement baffle (28) is movably connected to the outer surface of the sliding rod (25).

3. The automatic welding device based on machine vision according to claim 2, characterized in that: The two ends of the displacement baffle (28) are provided with thread grooves (32), and the outer surface of the slide rod (25) is provided with threads matching the inner wall of the thread groove (32).

4. The automatic welding device based on machine vision according to claim 2, characterized in that: A second driving device (27) is fixedly connected to one side of the fixed block (24), and an output shaft of the second driving device (27) is fixedly connected to one end of the sliding rod (25).

5. The automatic welding device based on machine vision according to claim 2, characterized in that: The upper surface of the displacement baffle (28) is movably connected to a heightening plate (33), and both ends of the heightening plate (33) are threadedly connected to fixing bolts (34). The fixing bolts (34) penetrate the heightening plate (33) and extend to one end inside the displacement baffle (28) and are threadedly connected to the inner wall of the displacement baffle (28).

6. The automatic welding device based on machine vision according to claim 2, characterized in that: A clamping groove (30) is provided in the middle of one side of the operating bottom plate (3) close to the lifting rod (7), and the clamping groove (30) is movably connected to the outer surface of the rear central plate (29).

7. The automatic welding device based on machine vision according to claim 1, characterized in that: The clamping mechanism is fixedly connected to a bottom slide column (17) on the upper surface of the operating base plate (3); the upper surface of the bottom slide column (17) is movably connected to an ear plate (16); one end of the ear plate (16) is fixedly connected to a fixed base plate (15); the bottom of the fixed base plate (15) is fixedly connected to a connecting transverse plate (19); both ends of the connecting transverse plate (19) are movably connected to connecting plates (20) via shafts; the upper surface of the connecting plate (20) is fixedly connected to a clamping telescopic rod (21); the output end of the clamping telescopic rod (21) is fixedly connected to a pressing plate (22).

8. The automatic welding device based on machine vision according to claim 7, characterized in that: The lower surface of the ear plate (16) is fixedly connected with a second slide block (23), the bottom slide column (17) is provided with a second slide groove (18), and the outer surface of the second slide block (23) is movably connected with the inner wall of the second slide groove (18).

9. The automatic welding device based on machine vision according to claim 1, characterized in that: A slider (4) is fixedly connected to the lower surface of the operating base plate (3), a slide groove (5) is provided at the top of the support column (2), and the outer surface of the slider (4) is movably connected to the inner wall of the slide groove (5).

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