An electrical control system for a repair welding flip device

Abstract

The present invention provides an electrical control system for a repair welding flipping device, which includes: collecting the appearance of each workpiece to be repaired in the repair welding area, determining its workpiece specifications and repair welding position, classifying the workpieces to be repaired, sorting the workpiece types according to the repair welding area corresponding to each workpiece type, controlling a robot to place the workpiece to be repaired in the repair welding area, and controlling a clamping mechanism to lock the workpiece to be repaired, and generating a corresponding flipping process, determining the repair welding progress of the current workpiece to be repaired according to the repair welding operation information of the repair welder, controlling the clamping mechanism to release the current workpiece to be repaired after the repair welding of the current workpiece to be repaired is completed, controlling the robot to grab each of the workpieces to be repaired in turn, collecting the repair welding work information corresponding to each workpiece to be repaired, generating and displaying corresponding repair welding results, effectively reducing the workload of the welder and improving the efficiency and quality of the repair welding.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece repair welding, and in particular to an electrical control system of a repair welding turning device. Background Art

[0002] During the daily production of vehicle body workpieces, when defects such as weld penetration, offset welding, air holes, cold welding, and inconsistent weld width occur in the workpieces during automatic welding, welders are required to take the workpieces out of the production line and place them on the repair welding table for qualified repair welding before they can be loaded onto the trolley for shipment. This results in defects such as high labor costs, slow production pace, and many safety hazards.

[0003] The current repair welding process for vehicle body parts relies on welders to move the parts to the repair welding station for repair welding, resulting in high labor costs and slow cycle times. The welders often cannot reach the parts on the repair welding station, and when turning the workpiece over for repair welding, this can cause a series of defects, including muscle strain, excessive noise from collisions with the repair welding station, and injuries from falling parts. The current production situation has high labor costs and slow cycle times. The welders often cannot reach the parts on the repair welding station for repair welding, and when turning the workpiece over for repair welding, this can cause a series of defects, including muscle strain, excessive noise from collisions with the repair welding station, and injuries from falling parts.

[0004] Therefore, the present invention provides an electrical control system for a repair welding flipping device. Summary of the Invention

[0005] The electrical control system of the repair welding turning device of the present invention performs visual identification inspection on the weld of the workpiece and automatically repairs the weld where there are defects in the weld in cooperation with the repair welding turning table, thereby reducing the workload of the welder and improving the efficiency and quality of the repair welding.

[0006] The present invention provides an electrical control system for a repair welding flipping device, comprising:

[0007] A workpiece identification module is used to collect the appearance of each workpiece to be repaired in the area to be repaired, and determine the workpiece specifications and repair welding position corresponding to each workpiece to be repaired;

[0008] A workpiece sorting module is used to classify the workpieces to be repaired based on the workpiece specifications, and sort the workpiece types according to the repair welding area corresponding to each workpiece type;

[0009] A workpiece locking module is used to control the robot to place the workpiece to be repaired in the repair welding area, control the clamping mechanism to lock the workpiece to be repaired based on the corresponding workpiece specifications and repair welding position, and generate a corresponding flipping process;

[0010] a repair welding execution module, configured to determine the repair welding progress of the current workpiece to be repaired according to the repair welding operation information of the repair welder, and control the clamping mechanism to release the current workpiece to be repaired after the repair welding of the current workpiece to be repaired is completed;

[0011] The cycle monitoring module is used to control the robot to grab each of the workpieces to be repaired in turn, collect the repair welding work information corresponding to each of the workpieces to be repaired, generate corresponding repair welding results and display them.

[0012] In one practicable manner,

[0013] The artifact identification module includes:

[0014] An image acquisition unit is used to obtain real-time image information of the area to be repaired, analyze a plurality of workpiece images contained in the real-time image information using image recognition technology, perform edge detection on each of the workpiece images, and obtain workpiece contour information corresponding to each of the workpieces to be repaired;

[0015] a weight collection unit configured to obtain real-time weight information corresponding to each weight collection point in the area to be repaired, obtain a plurality of weight center points of the area to be repaired, and set a corresponding weight range for each of the workpieces to be repaired between adjacent weight collection points based on the real-time weight information;

[0016] an appearance analysis unit, configured to draw the appearance of the workpiece corresponding to the workpiece to be repaired based on the workpiece contour information, construct a workpiece storage image of the area to be repaired, mark each weight center point in the workpiece storage image, and adjust the weight of each workpiece to be repaired within the weight range until the weight in the workpiece storage image is balanced, thereby obtaining the workpiece weight information corresponding to each workpiece to be repaired;

[0017] The depth recognition unit is used to construct the workpiece specifications of each workpiece to be repaired based on the workpiece appearance and the corresponding workpiece weight information, perform surface recognition on the appearance of each workpiece, obtain several repair welding positions of each workpiece to be repaired, establish and display the workpiece information of each workpiece to be repaired.

[0018] In one practicable manner,

[0019] The depth recognition unit is further configured to:

[0020] Each of the repair welding positions is marked in the corresponding workpiece specification, and a repair information table of each of the workpieces to be repaired is obtained and displayed.

[0021] In one practicable manner,

[0022] The workpiece sorting module includes:

[0023] A workpiece clustering unit, configured to perform K-means clustering on the workpieces to be repaired based on the workpiece specifications to obtain a plurality of workpiece classes;

[0024] The intra-cluster sorting unit is used to count the repair welding positions corresponding to each of the workpieces to be repaired, obtain the repair welding area of ​​each cluster, and sort the workpiece types in descending order based on the repair welding area.

[0025] In one practicable manner,

[0026] Also includes:

[0027] A cluster analysis unit, configured to respectively obtain a cluster centroid and a cluster specification corresponding to each of the workpiece types, construct a plurality of gripping positions corresponding to the workpiece type based on the cluster centroid and the cluster specification, and determine a gripping force range corresponding to each of the gripping positions;

[0028] The program construction unit is used to construct the grasping sequence of workpieces within each class corresponding to the workpiece class, generate the grasping force distribution characteristics of each workpiece to be repaired in combination with the grasping position and grasping force range corresponding to each workpiece to be repaired, and generate a grasping program to input into the robot.

[0029] In one practicable manner,

[0030] The workpiece locking module comprises:

[0031] a robot control unit configured to obtain a grasping program for the robot, construct a plurality of grasping conditions corresponding to each workpiece to be repaired, obtain a grasping posture of the robot when the robot grasps the workpiece to be repaired, and control the robot to place the workpiece to be repaired in a repair welding area when the grasping posture satisfies the grasping conditions;

[0032] a workpiece locking unit, configured to determine a plurality of locking points of the workpiece to be repaired based on the capture conditions, determine a locking force value corresponding to each of the locking points based on the corresponding workpiece specifications and the repair welding position, and control the clamping mechanism to lock the workpiece to be repaired;

[0033] The workpiece flipping unit is used to generate a corresponding repair welding flipping path according to the repair welding position corresponding to each workpiece to be repaired, determine a plurality of flipping fixed postures, control the clamping mechanism to lock and fix each flipping fixed posture respectively, and generate a flipping process for each workpiece to be repaired.

[0034] In one practicable manner,

[0035] Also includes:

[0036] The clamping mechanism is connected to the relay box, and the relay box is connected to the main electric control cabinet;

[0037] The relay box supplies power to the clamping mechanism, and a PLC is provided in the main electric control cabinet to introduce a flipping program for the clamping mechanism.

[0038] In one practicable manner,

[0039] The repair welding execution module includes:

[0040] A repair welding supervision unit is used to collect the repair welding operation information of the repair welder and generate the repair welding progress of the current workpiece to be repaired in combination with a plurality of repair welding positions of the current workpiece to be repaired;

[0041] A signal feedback unit is used to generate a completion feedback signal after the repair welding of the current workpiece to be repaired is completed and transmit it to the clamping mechanism, thereby controlling the clamping mechanism to release the current workpiece to be repaired;

[0042] The transmission execution unit is used to transmit the completion feedback signal to the robot, and control the robot to place the current workpiece to be repaired into the completion area.

[0043] In one practicable manner,

[0044] The cycle supervision module includes:

[0045] a workpiece conveying unit, configured to control the robot to convey each workpiece to be repaired to the operation area of ​​the repair welder for repair welding;

[0046] A deep monitoring unit is used to collect the repair welding work information of the repair welder for each workpiece to be repaired, construct the repair welding results corresponding to each workpiece to be repaired, and transmit the repair welding results to a designated terminal for display when the repair welding results are normal;

[0047] When the repair welding result is abnormal, a re-repair welding signal is generated to control the robot to transfer the workpiece to be repaired to the area to be repaired.

[0048] The achievable beneficial effects of the above technical solution are: in order to relieve the work pressure of welders, improve their work efficiency, reduce the risks faced by welders in the work process, and improve the quality of workpieces, before performing the repair welding work, the appearance of the workpiece to be repaired in the repair welding area is identified to determine its workpiece specifications and repair welding position, and then the workpiece to be repaired is divided into multiple workpiece categories, and then the repair welding sequence of the repair welding line is determined. On the one hand, it can reduce the phenomenon of welders frequently changing tools and wasting time, and on the other hand, it can extend the service life of the clamping mechanism. When performing the repair welding work, the robot is controlled to place the workpiece to be repaired in the repair welding area and lock it. Then, during the repair welding process of the repair welder, the repair welding tool is flipped according to the progress requirements, and the workpiece to be repaired is released after the repair welding is completed. During this period, the robot circulates the workpiece to be repaired, and at the same time collects the repair welding work information of each workpiece to be repaired, constructs its repair welding results and displays them, so that welders and other relevant personnel can understand the current status of the workpiece to be repaired at any time.

[0049] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0050] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0052] Figure 1 Schematic diagram of the composition of an electrical control system of a repair welding flip device according to an embodiment of the present invention;

[0053] Figure 2 Schematic diagram of the composition of a workpiece identification module of an electrical control system of a repair welding flipping device according to an embodiment of the present invention;

[0054] Figure 3 This is a schematic structural diagram of a housing in an embodiment of the present invention;

[0055] Figure 4 Schematic diagram of the meshing connection relationship between the gear and the rack in an embodiment of the present invention;

[0056] Figure 5 Schematic diagram of the position of the air outlet grille on the housing in an embodiment of the present invention;

[0057] Figure 6 Schematic diagram of the rotational connection relationship between the tube body and the mounting block in an embodiment of the present invention;

[0058] Figure 7 Schematic diagram of the connection relationship between the wire and the discharge needle in an embodiment of the present invention.

[0059] Among them: shell 1, air intake filter 2, air outlet grille 3, motor 4, double screw 5, screw block 6, tube body 7, bristles 8, gear 9, rack 10, mounting block 11, air pump 12, rubber wheel 13, air intake pipe 14, air outlet pipe 15, air guide cavity 16, exhaust hole 17, wire 18, discharge needle 19. DETAILED DESCRIPTION

[0060] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0061] Example 1

[0062] This embodiment provides an electrical control system for a repair welding flip device, such as Figure 1 As shown, including:

[0063] A workpiece identification module is used to collect the appearance of each workpiece to be repaired in the area to be repaired, and determine the workpiece specifications and repair welding position corresponding to each workpiece to be repaired;

[0064] A workpiece sorting module is used to classify the workpieces to be repaired based on the workpiece specifications, and sort the workpiece types according to the repair welding area corresponding to each workpiece type;

[0065] A workpiece locking module is used to control the robot to place the workpiece to be repaired in the repair welding area, control the clamping mechanism to lock the workpiece to be repaired based on the corresponding workpiece specifications and repair welding position, and generate a corresponding flipping process;

[0066] a repair welding execution module, configured to determine the repair welding progress of the current workpiece to be repaired according to the repair welding operation information of the repair welder, and control the clamping mechanism to release the current workpiece to be repaired after the repair welding of the current workpiece to be repaired is completed;

[0067] The cycle monitoring module is used to control the robot to grab each of the workpieces to be repaired in turn, collect the repair welding work information corresponding to each of the workpieces to be repaired, generate corresponding repair welding results and display them.

[0068] In this example, the area to be repaired is an area for storing workpieces to be repaired;

[0069] In this example, the workpiece to be repaired refers to a workpiece that needs to be repaired by welding, that is, a workpiece with unqualified welding;

[0070] In this example, the workpiece specifications represent the size and weight of the workpiece to be replenished;

[0071] In this example, the repair welding position indicates the position where repair welding is required in the workpiece to be repaired;

[0072] In this example, the positioner, vehicle type recognition sensor, electric control relay box, workpiece inspection sensor, clamping mechanism, clamping / unclamping position detection sensor, electric control line interface, solenoid valve island box, and human-machine operation button.

[0073] The working principle and beneficial effects of the above technical solution: In order to relieve the work pressure of welders, improve their work efficiency, reduce the risks faced by welders in the work process, and improve the quality of workpieces, the appearance of the workpieces to be repaired in the repair welding area is identified before the repair welding work, and the workpiece specifications and repair welding positions are determined. Then, the workpieces to be repaired are divided into multiple workpiece categories, and the repair welding sequence of the repair welding line is determined. On the one hand, it can reduce the phenomenon of welders frequently changing tools and wasting time. On the other hand, it can extend the service life of the clamping mechanism. When performing the repair welding work, the robot is controlled to place the workpiece to be repaired in the repair welding area and lock it. Then, during the repair welding process of the repair welder, the repair welding tool is flipped according to the progress requirements, and the workpiece to be repaired is released after the repair welding is completed. During this period, the robot circulates the workpieces to be repaired, and at the same time collects the repair welding work information of each workpiece to be repaired, constructs its repair welding results and displays them, so that welders and other relevant personnel can understand the current status of the workpiece to be repaired at any time.

[0074] Example 2

[0075] On the basis of Example 1, the electrical control system of the repair welding flip device is as follows: Figure 2 As shown, the workpiece identification module includes:

[0076] An image acquisition unit is used to obtain real-time image information of the area to be repaired, analyze a plurality of workpiece images contained in the real-time image information using image recognition technology, perform edge detection on each of the workpiece images, and obtain workpiece contour information corresponding to each of the workpieces to be repaired;

[0077] a weight collection unit configured to obtain real-time weight information corresponding to each weight collection point in the area to be repaired, obtain a plurality of weight center points of the area to be repaired, and set a corresponding weight range for each of the workpieces to be repaired between adjacent weight collection points based on the real-time weight information;

[0078] an appearance analysis unit, configured to draw the appearance of the workpiece corresponding to the workpiece to be repaired based on the workpiece contour information, construct a workpiece storage image of the area to be repaired, mark each weight center point in the workpiece storage image, and adjust the weight of each workpiece to be repaired within the weight range until the weight in the workpiece storage image is balanced, thereby obtaining the workpiece weight information corresponding to each workpiece to be repaired;

[0079] The depth recognition unit is used to construct the workpiece specifications of each workpiece to be repaired based on the workpiece appearance and the corresponding workpiece weight information, perform surface recognition on the appearance of each workpiece, obtain several repair welding positions of each workpiece to be repaired, establish and display the workpiece information of each workpiece to be repaired.

[0080] In this example, the weight center point represents the point where gravity is concentrated in the repair welding area;

[0081] In this example, the weight range indicates that the actual weight of the workpiece to be replenished is within the weight range.

[0082] The working principle and beneficial effects of the above technical solution are as follows: the contour information of the workpiece in the area to be repaired is determined by image recognition technology, and the real-time weight information of the area to be repaired is collected at the same time, and then the weight-related data of each workpiece to be repaired is derived, and then the weight information of each workpiece to be repaired is analyzed together with the workpiece contour information and weight-related data to determine its workpiece specifications, and the surface recognition technology is used to identify the repair welding position of the workpiece to be repaired, and the workpiece information of the workpiece to be repaired is obtained. In this way, the specifications and weight of multiple workpieces to be repaired can be identified at the same time, thereby improving the efficiency of the preparation work before repair welding.

[0083] Example 3

[0084] On the basis of Example 2, the electrical control system of the repair welding flipping device and the depth identification unit are further used to:

[0085] Each of the repair welding positions is marked in the corresponding workpiece specification, and a repair information table of each of the workpieces to be repaired is obtained and displayed.

[0086] The working principle and beneficial effects of the above technical solution are as follows: a to-be-repaired information table of each to-be-repaired workpiece is constructed for welders' reference, thereby improving the welders' work efficiency.

[0087] Example 4

[0088] On the basis of Example 1, the electrical control system of the repair welding flipping device and the workpiece sorting module include:

[0089] A workpiece clustering unit, configured to perform K-means clustering on the workpieces to be repaired based on the workpiece specifications to obtain a plurality of workpiece classes;

[0090] The intra-cluster sorting unit is used to count the repair welding positions corresponding to each of the workpieces to be repaired, obtain the repair welding area of ​​each cluster, and sort the workpiece types in descending order based on the repair welding area.

[0091] The working principle and beneficial effects of the above technical solution are as follows: the workpieces to be repaired are divided into several workpiece categories by clustering, and then the repair welding order of different workpiece categories is determined by counting the repair welding area in each workpiece category. This can not only avoid workers being dazzled, but also expedite the processing of workpieces with more defects to prevent defective products from entering the market.

[0092] Example 5

[0093] On the basis of Example 4, the electrical control system of the repair welding flipping device further includes:

[0094] A cluster analysis unit, configured to respectively obtain a cluster centroid and a cluster specification corresponding to each of the workpiece types, construct a plurality of gripping positions corresponding to the workpiece type based on the cluster centroid and the cluster specification, and determine a gripping force range corresponding to each of the gripping positions;

[0095] The program construction unit is used to construct the grasping sequence of workpieces within each class corresponding to the workpiece class, generate the grasping force distribution characteristics of each workpiece to be repaired in combination with the grasping position and grasping force range corresponding to each workpiece to be repaired, and generate a grasping program to input into the robot.

[0096] In this example, the cluster centroid represents the average workpiece specification of the workpieces to be repaired contained in a workpiece class;

[0097] In this example, the cluster specification represents the average appearance specification of the workpieces to be repaired contained in a workpiece class;

[0098] In this example, the intra-class grasping order means grasping the workpiece with a small repair welding area first, and then grasping the workpiece with a large repair welding area in sequence;

[0099] In this example, the grasping force distribution characteristics represent the grasping force of each grasping point of the robot.

[0100] The working principle and beneficial effects of the above technical solution are as follows: the cluster center of mass and cluster specifications of the workpiece type are used to determine the grasping position and grasping force range of each workpiece type. When grasping, it is only necessary to fine-tune the grasping force within the grasping force range, which improves the grasping efficiency. Finally, the corresponding grasping program is set for the robot to effectively control the robot.

[0101] Example 6

[0102] On the basis of Example 1, the electrical control system of the repair welding flipping device and the workpiece locking module include:

[0103] a robot control unit configured to obtain a grasping program for the robot, construct a plurality of grasping conditions corresponding to each workpiece to be repaired, obtain a grasping posture of the robot when the robot grasps the workpiece to be repaired, and control the robot to place the workpiece to be repaired in a repair welding area when the grasping posture satisfies the grasping conditions;

[0104] a workpiece locking unit, configured to determine a plurality of locking points of the workpiece to be repaired based on the capture conditions, determine a locking force value corresponding to each of the locking points based on the corresponding workpiece specifications and the repair welding position, and control the clamping mechanism to lock the workpiece to be repaired;

[0105] The workpiece flipping unit is used to generate a corresponding repair welding flipping path according to the repair welding position corresponding to each workpiece to be repaired, determine a plurality of flipping fixed postures, control the clamping mechanism to lock and fix each flipping fixed posture respectively, and generate a flipping process for each workpiece to be repaired.

[0106] In this example, the grasping condition represents the conditions that the robot needs to meet when grasping the workpiece to be repaired;

[0107] In this example, the grasping posture refers to the posture the robot assumes when grasping the workpiece to be repaired;

[0108] In this example, the repair welding flipping path refers to the process of flipping the workpiece to be repaired so that the position to be repaired faces the welder during the repair welding process;

[0109] In this example, the flipped fixed posture refers to the posture presented when the object is fixed after being flipped once.

[0110] The working principle and beneficial effects of the above technical solution: in order to reduce the workload of welders, corresponding grasping conditions are constructed according to the robot's grasping program before performing the repair welding and flipping, and then the workpiece to be repaired is grabbed into the repair welding area, and several locking points in the workpiece to be repaired are further determined, and the locking force value corresponding to each locking point is analyzed, and then the workpiece to be repaired is fixed and locked. When flipping is required, a repair welding flipping path is constructed according to the repair welding position of the workpiece to be repaired, and several flipping fixed postures of the workpiece to be repaired are determined, thereby determining the flipping process of the workpiece to be repaired. In this way, the flipping work can be completed by the robot and the clamping mechanism, which not only reduces the workload of the welder, but also improves the flipping accuracy, making it easier for the welder to repair welding.

[0111] Example 7

[0112] On the basis of Example 6, the electrical control system of the repair welding flipping device further includes:

[0113] The clamping mechanism is connected to the relay box, and the relay box is connected to the main electric control cabinet;

[0114] The relay box supplies power to the clamping mechanism, and a PLC is provided in the main electric control cabinet to introduce a flipping program for the clamping mechanism.

[0115] The working principle and beneficial effects of the above technical solution are as follows: multiple devices work simultaneously to achieve effective coordination.

[0116] Example 8

[0117] On the basis of Example 1, the electrical control system of the repair welding flip device, the repair welding execution module, includes:

[0118] A repair welding supervision unit is used to collect the repair welding operation information of the repair welder and generate the repair welding progress of the current workpiece to be repaired in combination with a plurality of repair welding positions of the current workpiece to be repaired;

[0119] A signal feedback unit is used to generate a completion feedback signal after the repair welding of the current workpiece to be repaired is completed and transmit it to the clamping mechanism, thereby controlling the clamping mechanism to release the current workpiece to be repaired;

[0120] The transmission execution unit is used to transmit the completion feedback signal to the robot, and control the robot to place the current workpiece to be repaired into the completion area.

[0121] In this example, the completion feedback signal represents a signal generated after the repair welding work is completed;

[0122] In this example, the completion area identifies an area for storing workpieces to be repaired that have completed the repair welding work.

[0123] The working principle and beneficial effects of the above technical solution are as follows: when repair welding is performed, the repair welding operation information of the repair welder is collected to determine the several positions of the workpiece to be repaired, the repair welding progress is determined, and after the repair welding is completed, the completion feedback signal is transmitted to the clamping mechanism and the robot to control their distribution to perform the corresponding next step of work, thereby constructing a complete repair welding production line.

[0124] Example 9

[0125] On the basis of Example 1, the electrical control system of the repair welding flipping device, the cycle monitoring module, includes:

[0126] a workpiece conveying unit, configured to control the robot to convey each workpiece to be repaired to the operation area of ​​the repair welder for repair welding;

[0127] A deep monitoring unit is used to collect the repair welding work information of the repair welder for each workpiece to be repaired, construct the repair welding results corresponding to each workpiece to be repaired, and transmit the repair welding results to a designated terminal for display when the repair welding results are normal;

[0128] When the repair welding result is abnormal, a re-repair welding signal is generated to control the robot to transfer the workpiece to be repaired to the area to be repaired.

[0129] In this example, the designated terminal refers to the display terminal used by the welder.

[0130] The working principle and beneficial effects of the above technical solution are as follows: In order to improve the repair welding quality of the repair welding device and avoid the occurrence of unqualified repair welding, when repair welding is performed, the robot transports the workpiece to be repaired to the operation area for repair welding. At the same time, the repair welding work information of the repair welding worker is used to construct the repair welding results, identify whether the repair welding results are qualified, and then perform different operations on the workpiece, effectively improving the generation rate of complete workpieces.

[0131] Example 10, based on Example 1, Figure 3-Figure 7 The relay box is configured to include: a shell 1, an air intake filter 2, an air outlet grille 3, a motor 4, a double screw 5, a screw block 6, a tube body 7 and bristles 8. One side wall of the shell 1 is connected to the air intake filter 2, and the air outlet grille 3 connected to the other side wall of the shell 1 is arranged opposite to the air intake filter 2. The inner wall of the shell 1 is connected to the motor 2, and the output end of the motor 2 is connected to the fan blade to cool the inside of the shell 1. One side wall of the shell 1 is connected to the motor 4, and the output end of the motor 4 is connected to the double screw 5. Two screw blocks 6 are threadedly connected to the double screw 5. The screw block 6 is slidably connected to one side wall of the shell 1. The bottom of the screw block 6 is rotatably connected to the top of the tube body 7. The end of multiple groups of bristles 8 are connected to the tube body 7, and the other end of the bristles 8 is frictionally matched with the side of the air intake filter 2 placed outside the shell 1;

[0132] A gear 9 is connected to the bottom of the tube 7, and the gear 9 is meshed with the rack 10 on the housing 1;

[0133] The bottom end of the tube body 7 is rotatably connected to a mounting block 11, and a wind pump 12 is connected to the side of the mounting block 11. A rubber wheel 13 connected to the input shaft of the wind pump 12 is frictionally matched with the side wall of the housing 1. An air inlet pipe 14 is connected to one side of the wind pump 12, and an end of an air outlet pipe 15 is connected to the other side of the wind pump 12. The other end of the air outlet pipe 15 is placed in an air guide cavity 16 of the mounting block 11. The top of the air guide cavity 16 is connected to the bottom of the tube body 7. The inner wall of the tube body 7 is provided with the ends of a plurality of exhaust holes 17, and the other end of each exhaust hole 17 is arranged in the middle of a group of bristles 8;

[0134] A wire 18 is concentrically provided inside the tube body 7, and the wire 18 is connected to the screw block 6. The end of the wire 18 passes through the side wall of the screw block 6 and is connected to the power supply. The ends of multiple discharge needles 19 are connected to the wire 18. The discharge needles 19 are arranged in a one-to-one correspondence with the exhaust holes 17, and the tips of the discharge needles 19 are arranged away from the side wall of the outer shell 1.

[0135] The working principle and beneficial effects of the above technical solution are as follows: when the device is working continuously, the relay box will control other components in the device and execute the corresponding instructions. Therefore, after the device has been working for a period of time, the temperature inside the device will increase significantly. At this time, it is necessary to start the second motor, and the fan blades at the output end of the second motor rotate. The external air enters the device through the air inlet filter 2 and cools the components therein. The cooled air is discharged through the air outlet grille 3. Due to the setting of the air outlet grille 3 and its use as an exhaust structure during operation, dust will not accumulate on it.

[0136] After the dust of dust filter 2 is blocked, the dust of dust filter 2 is removed from the filter 2. After the dust of dust filter 2 is blocked, the dust of dust filter 2 is removed from the filter 2. After the dust of dust filter 2 is blocked, the dust of dust filter 2 is removed from the filter 2.

[0137] As the tube body 7 moves, the gear 9 connected thereto engages with the rack 10. Under the cooperation of the rotational connection between the tube body 7 and the bottom of the screw block 6, the tube body 7 drives the bristles 8 to rotate, thereby cleaning the dust on the air intake filter 2;

[0138] When the two tube bodies 7 are close to each other, the rubber wheel 13 that is in friction with the side wall of the shell 1 rotates forward, the input shaft of the air pump 12 rotates forward, and the outside air enters the air pump 12 through the air inlet pipe 14, and then enters the air guide cavity 16 through the other end of the air outlet pipe 15. The air then enters the tube body 7 and is discharged through the exhaust hole 17. At this time, the exhaust hole 17 facing the air intake filter 2 can clean the dust on it to prevent the dust from being stubbornly attached to the air intake filter 2 due to static electricity caused by heat. The remaining dust can be removed from the air intake filter 2 by the flowing air. strength and is swept away by the bristles 8; since a plurality of exhaust holes 17 are provided on the tube body 7, the exhaust holes 17 away from the air intake filter 2 can reduce the wind pressure input by the air pump 12, thereby preventing the flowing air from exerting excessive air pressure on the dust, causing the dust to clog the air intake filter 2; at the same time, the wire 18 is energized to generate an electric field at the tip of the discharge needle 19. Since the discharge needle 19 is arranged away from the air intake filter 2, when the bristles 8 rotate to the side away from the air intake filter 2, the dust on the bristles 8 will be affected by the electric field, neutralizing the static electricity on the bristles 8, and cleaning the bristles 8;

[0139] After the air intake filter 2 is cooled down by the flowing air, the adhesion of the remaining dust attached to the air intake filter 2 due to static electricity is significantly reduced. At this time, the two tube bodies 7 are away from each other, and part of the dust is cleaned by the bristles 8. At this time, the rubber wheel 13 reverses, and the air pump 12 works in the opposite direction. The air in the environment enters the tube body 7 through the exhaust hole 17, and then enters the air guide cavity 16, and enters the air pump 12 through the outlet pipe 15. At this time, the remaining dust on the air intake filter 2 is finally discharged through the air intake pipe 14, which can further ensure that the dust on the air intake filter 2 and the bristles 8 are thoroughly cleaned; at this time, the wire 18 can also be energized to generate an electric field at the tip of the discharge needle 19 to discharge the air flowing into the tube body 7, so that the static electricity on the dust passing through the air pump 12 is eliminated, preventing the dust with static electricity from clogging the air pump 12 or the hole structure or the pipeline structure.

[0140] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An electrical control system for a repair welding flip device, characterized in that: include: A workpiece identification module is used to collect the appearance of each workpiece to be repaired in the area to be repaired, and determine the workpiece specifications and repair welding position corresponding to each workpiece to be repaired; A workpiece sorting module is used to classify the workpieces to be repaired based on the workpiece specifications, and sort the workpiece types according to the repair welding area corresponding to each workpiece type; A workpiece locking module is used to control the robot to place the workpiece to be repaired in the repair welding area, control the clamping mechanism to lock the workpiece to be repaired based on the corresponding workpiece specifications and repair welding position, and generate a corresponding flipping process; A repair welding execution module is used to determine the repair welding progress of the current workpiece to be repaired according to the repair welding operation information of the repair welder, and control the clamping mechanism to release the current workpiece to be repaired after the repair welding of the current workpiece to be repaired is completed; a cycle monitoring module for controlling the robot to sequentially grasp each workpiece to be repaired, collecting repair welding work information corresponding to each workpiece to be repaired, generating corresponding repair welding results and displaying them; The artifact identification module includes: An image acquisition unit is used to obtain real-time image information of the area to be repaired, analyze a plurality of workpiece images contained in the real-time image information using image recognition technology, perform edge detection on each of the workpiece images, and obtain workpiece contour information corresponding to each of the workpieces to be repaired; a weight collection unit configured to obtain real-time weight information corresponding to each weight collection point in the area to be repaired, obtain a plurality of weight center points of the area to be repaired, and set a corresponding weight range for each of the workpieces to be repaired between adjacent weight collection points based on the real-time weight information; an appearance analysis unit, configured to draw the appearance of the workpiece corresponding to the workpiece to be repaired based on the workpiece contour information, construct a workpiece storage image of the area to be repaired, mark each weight center point in the workpiece storage image, and adjust the weight of each workpiece to be repaired within the weight range until the weight in the workpiece storage image is balanced, thereby obtaining the workpiece weight information corresponding to each workpiece to be repaired; The depth recognition unit is used to construct the workpiece specifications of each workpiece to be repaired based on the workpiece appearance and the corresponding workpiece weight information, perform surface recognition on the appearance of each workpiece, obtain several repair welding positions of each workpiece to be repaired, establish and display the workpiece information of each workpiece to be repaired.

2. The electrical control system of the repair welding flip device according to claim 1, characterized in that: The depth recognition unit is further configured to: Each of the repair welding positions is marked in the corresponding workpiece specification, and a repair information table of each of the workpieces to be repaired is obtained and displayed.

3. The electrical control system of the repair welding flip device according to claim 1, characterized in that: The workpiece sorting module includes: A workpiece clustering unit, configured to perform K-means clustering on the workpieces to be repaired based on the workpiece specifications to obtain a plurality of workpiece classes; The intra-cluster sorting unit is used to count the repair welding positions corresponding to each of the workpieces to be repaired, obtain the repair welding area of ​​each cluster, and sort the workpiece types in descending order based on the repair welding area.

4. The electrical control system of the repair welding flip device according to claim 3, characterized in that: Also includes: A cluster analysis unit, configured to respectively obtain a cluster centroid and a cluster specification corresponding to each of the workpiece types, construct a plurality of gripping positions corresponding to the workpiece type based on the cluster centroid and the cluster specification, and determine a gripping force range corresponding to each of the gripping positions; The program construction unit is used to construct the grasping sequence of workpieces within each class corresponding to the workpiece class, generate the grasping force distribution characteristics of each workpiece to be repaired in combination with the grasping position and grasping force range corresponding to each workpiece to be repaired, and generate a grasping program to input into the robot.

5. The electrical control system of the repair welding flip device according to claim 1, characterized in that: The workpiece locking module comprises: a robot control unit configured to obtain a grasping program for the robot, construct a plurality of grasping conditions corresponding to each workpiece to be repaired, obtain a grasping posture of the robot when the robot grasps the workpiece to be repaired, and control the robot to place the workpiece to be repaired in a repair welding area when the grasping posture satisfies the grasping conditions; a workpiece locking unit, configured to determine a plurality of locking points of the workpiece to be repaired based on the capture conditions, determine a locking force value corresponding to each of the locking points based on the corresponding workpiece specifications and the repair welding position, and control the clamping mechanism to lock the workpiece to be repaired; The workpiece flipping unit is used to generate a corresponding repair welding flipping path according to the repair welding position corresponding to each workpiece to be repaired, determine a plurality of flipping fixed postures, control the clamping mechanism to lock and fix each flipping fixed posture respectively, and generate a flipping process for each workpiece to be repaired.

6. The electrical control system of the repair welding flip device according to claim 5, characterized in that: Also includes: The clamping mechanism is connected to the relay box, and the relay box is connected to the main electric control cabinet; The relay box supplies power to the clamping mechanism, and a PLC is provided in the main electric control cabinet to introduce a flipping program for the clamping mechanism.

7. The electrical control system of the repair welding flipping device according to claim 1, characterized in that: The repair welding execution module includes: A repair welding supervision unit is used to collect the repair welding operation information of the repair welder and generate the repair welding progress of the current workpiece to be repaired in combination with a plurality of repair welding positions of the current workpiece to be repaired; A signal feedback unit is used to generate a completion feedback signal after the repair welding of the current workpiece to be repaired is completed and transmit it to the clamping mechanism, thereby controlling the clamping mechanism to release the current workpiece to be repaired; The transmission execution unit is used to transmit the completion feedback signal to the robot, and control the robot to place the current workpiece to be repaired into the completion area.

8. The electrical control system of the repair welding flipping device according to claim 1, characterized in that: The cycle supervision module includes: a workpiece conveying unit, configured to control the robot to convey each workpiece to be repaired to the operation area of ​​the repair welder for repair welding; A deep monitoring unit is used to collect the repair welding work information of the repair welder for each workpiece to be repaired, construct the repair welding results corresponding to each workpiece to be repaired, and transmit the repair welding results to a designated terminal for display when the repair welding results are normal; When the repair welding result is abnormal, a re-repair welding signal is generated to control the robot to transfer the workpiece to be repaired to the area to be repaired.

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