Cross-flow wind wheel welding equipment based on visual inspection

Abstract

The invention relates to the technical field of welding equipment, and provides cross-flow wind wheel welding equipment based on visual inspection, a first image acquisition module is arranged obliquely above a welding positioning seat, and a non-vertical oblique shooting mode is adopted, so that the shooting angle and the movement direction of a welding head assembly are not interfered, and the equipment is ensured not to be stopped for adjustment during continuous operation. Workpiece identification points on the welding positioning seat can be quickly captured by the first image acquisition module, the control system calculates offset in real time and drives the first rotation correction mechanism to adjust the position of the welding positioning seat, and dynamic correction is achieved. According to the design, the problem that in a traditional scheme, the efficiency is low due to the fact that a mechanical arm frequently moves a camera is solved, after a workpiece is grabbed by a corresponding mechanical clamping mechanism and transferred to the welding positioning base, the first image collecting module can instantly complete photographing, the standby time of equipment is greatly shortened, and the welding production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and particularly to a cross-flow impeller welding equipment based on vision detection. Background Art

[0002] As a core component of modern ventilation systems, the cross-flow impeller demonstrates excellent air flow guiding performance in household air conditioners, circulation fans, and other devices, thanks to its innovative multi-wing blade structure and cylindrical cavity design. With the intelligent upgrade of the home appliance industry and the increasing demand for large-scale production, the manufacturing process of this component faces new challenges. Especially in the automated welding process, how to achieve rapid and accurate identification of the positioning reference point has become a key technical bottleneck restricting production efficiency.

[0003] Currently, the industry generally adopts a positioning solution based on machine vision: the industrial camera is driven by a six-axis robotic arm to move directly above the wind blade assembly to be welded. After image acquisition and feature analysis, the camera is then guided to exit the working area for welding operations. Although this solution can achieve basic positioning functions, it exposes significant defects during actual production line operation. The frequent movement trajectories of the robotic arm not only prolong the production cycle of a single product but also increase equipment maintenance costs and the probability of system failures. These problems directly affect the economic benefits of large-scale production. Summary of the Invention

[0004] The present invention proposes a cross-flow impeller welding equipment based on vision detection. By setting the first image acquisition module diagonally above the welding positioning seat and adopting a non-vertical oblique shooting method, the shooting angle has no interference with the movement direction of the welding head assembly, ensuring that the equipment does not need to stop for adjustment during continuous operation. The workpiece identification points on the welding positioning seat can be quickly captured by the first image acquisition module. The control system calculates the offset in real time and drives the first rotation correction mechanism to adjust the position of the welding positioning seat to achieve dynamic correction. This design avoids the inefficiency of the traditional solution where the robotic arm frequently moves the camera. After the workpiece is grabbed and transferred to the welding positioning seat by the corresponding mechanical clamping mechanism, the first image acquisition module can complete the photo-taking instantly, significantly reducing the standby time of the equipment and improving the welding production efficiency.

[0005] A cross-flow impeller welding equipment based on vision detection designed according to this purpose includes a welding positioning seat, a welding head assembly, a first rotation correction mechanism, a first image acquisition module, and a control system; The welding positioning seat is used to place the workpiece to be welded, and the workpiece is provided with identification points for marking the welding origin; The welding head assembly is arranged above the welding positioning seat and moves towards the welding positioning seat during workpiece welding; The first image acquisition module is electrically connected to the control system and is used to capture a first view of the workpiece on the welding positioning seat, and the first view is transmitted to the control system; the first image acquisition module is arranged obliquely above the welding positioning seat, and the shooting angle direction of the first image acquisition module does not interfere with the movement direction of the welding head assembly during the operation of the equipment. The control system is provided with an image processing module for processing the image information of the first view, so that the control system calculates the offset between the current coordinate position of the workpiece identification point and the set welding origin coordinate position before workpiece welding. The first rotation correction mechanism is electrically connected to the control system. The first rotation correction mechanism is in transmission connection with the welding positioning seat. The control system issues an instruction to the first rotation correction mechanism according to the calculated offset, and the first rotation correction mechanism drives the welding positioning seat to run in the correction direction to realize the correction before workpiece welding.

[0006] The welding head assembly includes a welding frame. A bracket for installing and fixing the first image acquisition module is provided on the welding frame. The first image acquisition module is a first camera and is obliquely arranged on the bracket, and the shooting end of the first image acquisition module is obliquely oriented towards the welding positioning seat.

[0007] The cross-flow fan welding equipment further includes a gripper transplanting mechanism, a first workpiece positioning seat arranged on one outer side of the gripper transplanting mechanism, and a second image acquisition module located above the first workpiece positioning seat. The first positioning seat is used for placing the wind wheel end cover. The second image acquisition module is electrically connected to the control system and is used to capture a second view of the workpiece on the first workpiece positioning seat, and the second view is transmitted to the control system. The gripper transplanting mechanism is electrically connected to the control system and is used to grasp and transfer workpieces. After the control system obtains the second view information, it issues an instruction to the gripper transplanting mechanism. The gripper transplanting mechanism runs towards the first workpiece positioning seat and grabs and transfers the workpiece on the first workpiece positioning seat to the welding positioning seat.

[0008] A second workpiece positioning seat is arranged on the other outer side of the gripper transplanting mechanism, and a second rotation correction mechanism is arranged below the second workpiece positioning seat. The second workpiece positioning seat is used for placing the end section of the wind wheel. The second image acquisition module is reciprocally arranged between the first workpiece positioning seat and the second workpiece positioning seat. The second image acquisition module moves above the second workpiece positioning seat to capture a third view of the workpiece on the second workpiece positioning seat, and the third view is transmitted to the control system. The image processing module of the control system processes the image information of the third view. The second rotation correction mechanism is drivingly connected to the second workpiece positioning seat, and the second rotation correction mechanism is electrically connected to the control system. After the image processing module completes the image processing information, the control system makes calculations and issues instructions to the second rotation correction mechanism according to the calculation results, and the second rotation correction mechanism drives the second workpiece positioning seat to move along the correction direction; After the second workpiece positioning seat is corrected, the gripper transplanting mechanism moves towards the second workpiece positioning seat and grabs and transfers the workpiece on the second workpiece positioning seat to the welding positioning seat.

[0009] Above the first workpiece positioning seat and the second workpiece positioning seat, there is a cross beam, and a movable plate that is reciprocatingly arranged on the cross beam and connected to the second image acquisition module; The second image acquisition module is a second camera; A translation drive is provided between the cross beam and the movable plate, and the translation drive is fixed on the cross beam; The output shaft of the translation drive is drivingly connected to the movable plate to drive the movable plate and the second image acquisition module to reciprocatingly move on the cross beam; The translation drive is a cylinder.

[0010] On one side of the first workpiece positioning seat, there is a first gripping mechanism, and the first gripping mechanism is electrically connected to the control system. The first gripping mechanism is used to grab the workpiece on the first conveyor line to the first workpiece positioning seat; On one side of the second workpiece positioning seat, there is a second gripping mechanism, and the second gripping mechanism is electrically connected to the control system. The second gripping mechanism is used to grab the workpiece on the second conveyor line to the second workpiece positioning seat.

[0011] On the outside of one side of the gripper transplanting mechanism, there is also a third workpiece positioning seat. Above the third workpiece positioning seat, there is a third image acquisition module, and below the third workpiece positioning seat, there is a third rotation correction mechanism; The third workpiece positioning seat is used to place the middle section of the wind wheel; The third image acquisition module is electrically connected to the control system and is used to photograph the fourth view of the workpiece on the third workpiece positioning seat. The fourth view is transmitted to the control system, and the image processing module of the control system processes the image information of the fourth view; The third rotation correction mechanism is drivingly connected to the third workpiece positioning seat, and the third rotation correction mechanism is electrically connected to the control system; After the image processing module of the control system completes the image processing information, it makes calculations and issues instructions to the third rotation correction mechanism according to the calculation results, and the third rotation correction mechanism drives the third workpiece positioning seat to move along the correction direction.

[0012] Above the third workpiece positioning seat, there is a gripper handling mechanism; On one side of the third workpiece positioning seat, there is a support frame. A moving plate is arranged on the support frame. The gripper handling mechanism and the third image acquisition module are fixedly mounted on the moving plate together. A power driving mechanism is arranged between the support frame and the moving plate. The output end of the power driving mechanism is in transmission connection with the moving plate to drive the moving plate to reciprocate on the support frame. The gripper handling mechanism is electrically connected to the control system.

[0013] The gripper handling mechanism includes two first gripper assemblies and second gripper assemblies arranged at intervals. The first gripper assembly is used to grab the workpiece on the third conveyor line onto the third workpiece positioning seat. After the third workpiece positioning seat is calibrated, the second gripper assembly moves towards the third workpiece positioning seat and grabs and transfers the workpiece on the third workpiece positioning seat to the welding positioning seat. The third image acquisition module is a third camera and is arranged at the upper position between the first gripper assembly and the second gripper assembly. On the cross-flow fan wheel welding equipment, there is a sensor for triggering the third image acquisition module to take a photo.

[0014] On the cross-flow fan wheel welding equipment, there is a supplementary light module for generating a projection light source. The projection end of the supplementary light module faces the welding positioning seat along the light propagation direction. On both sides of the welding positioning seat, there are a first positioning module and a second positioning module respectively. The welding positioning seat is located between the first positioning module and the second positioning module. On one side of the first positioning module and the second positioning module, there is a fixed seat. An adjustment driving mechanism is arranged on the fixed seat. The first positioning module and the second positioning module are respectively in transmission connection with the adjustment driving mechanism. The first positioning module and the second positioning module are respectively slidably connected to the fixed seat. The adjustment driving mechanism drives the first positioning module and the second positioning module to slide towards or away from each other on the fixed seat to adjust the distance between the first positioning module and the second positioning module.

[0015] The beneficial technical effects of the present invention are as follows: The cross-flow fan wheel welding equipment based on vision detection sets the first image acquisition module obliquely above the welding positioning seat and adopts a non-vertical oblique shooting method, so that the shooting angle has no interference with the movement direction of the welding head assembly, ensuring that the equipment does not need to stop for adjustment during continuous operation. The workpiece identification points on the welding positioning seat can be quickly captured by the first image acquisition module. The control system calculates the offset in real time and drives the first rotation correction mechanism to adjust the position of the welding positioning seat to achieve dynamic correction. This design avoids the low efficiency problem of the traditional solution where the robotic arm frequently moves the camera. After the workpiece is grabbed and transferred to the welding positioning seat by the corresponding mechanical clamping mechanism, the first image acquisition module can complete the photo taking instantly, greatly reducing the standby time of the equipment and improving the welding production efficiency. Brief Description of the Drawings

[0016] Figure 1 This is a schematic three-dimensional structure diagram of a cross-flow impeller welding device according to an embodiment of the present invention.

[0017] Figure 2 This is a schematic three-dimensional structure diagram of a welding head assembly according to an embodiment of the present invention.

[0018] Figure 3 This is a schematic three-dimensional structure diagram of the transmission connection between a welding positioning seat and a first rotation correction mechanism according to an embodiment of the present invention.

[0019] Figure 4 This is a schematic three-dimensional structure diagram of the transmission connection between an adjustment drive mechanism and a positioning module according to an embodiment of the present invention.

[0020] Figure 5 This is a schematic three-dimensional structure diagram of a first workpiece positioning seat, a gripper transplanting mechanism, and a second workpiece positioning seat according to an embodiment of the present invention.

[0021] Figure 6 This is a schematic three-dimensional structure diagram of a first workpiece positioning seat and a second workpiece positioning seat according to an embodiment of the present invention.

[0022] Figure 7 This is a schematic three-dimensional structure diagram of a first clamping mechanism according to an embodiment of the present invention.

[0023] Figure 8 This is a schematic three-dimensional structure diagram of a second clamping mechanism according to an embodiment of the present invention.

[0024] Figure 9 This is a schematic three-dimensional structure diagram of a gripper transplanting mechanism according to an embodiment of the present invention.

[0025] Figure 10 This is a schematic three-dimensional structure diagram of a third image acquisition module according to an embodiment of the present invention.

[0026] Figure 11 This is a schematic structure diagram of a cross-flow impeller according to an embodiment of the present invention.

[0027] Figure 12 This is a schematic structure diagram of a cross-flow impeller with identification points provided on the impeller end cover according to an embodiment of the present invention. Detailed Description of the Embodiment

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] See also Figures 1 - 12 , a crossflow impeller welding device based on visual detection, comprising a welding positioning seat 1, a welding head assembly 2, a first rotation correction mechanism 3, a first image acquisition module 4 and a control system; The welding positioning seat 1 is used to place the workpiece to be welded, and the workpiece is provided with a marking point 37 for marking the welding origin; The welding head assembly 2 is arranged above the welding positioning seat 1 and moves toward the welding positioning seat 1 when the workpiece is welded; The first image acquisition module 4 is electrically connected to the control system and is used to capture a first view on the welding positioning seat 1, and the first view is transmitted to the control system; the first image acquisition module 4 is arranged obliquely above the welding positioning seat 1, and the shooting angle direction of the first image acquisition module 4 does not interfere with the movement direction of the welding head assembly 4 during the operation of the equipment; The control system is provided with an image processing module for processing image information of the first view, so that the control system calculates the offset between the current coordinate position of the workpiece identification point 37 and the set welding origin coordinate position before the workpiece is welded; The first rotation correction mechanism 3 is electrically connected to the control system, and the first rotation correction mechanism 3 is transmission-connected to the welding positioning seat 1. The control system sends instructions to the first rotation correction mechanism 3 according to the calculated offset, and the first rotation correction mechanism 3 drives the welding positioning seat 1 to run along the correction direction to achieve correction before the workpiece is welded.

[0030] In this embodiment, the welding positioning seat 1 is rotatably set on the top of the welding fixing seat 38, and the first rotation correction mechanism 3 includes a first correction drive motor 39. A belt drive pulley 40 is provided on the driving shaft of the first correction drive motor 39. A pulley 41 is provided at the bottom of the welding fixing seat 38. The pulley 41 is rotatably connected to the welding positioning seat 1 through a rotating shaft. A belt 42 is provided between the belt drive pulley 40 and the pulley 41. The belt drive pulley 40 and the pulley 41 are connected for transmission through the belt 42. The first correction drive motor 39 drives the pulley 41 to rotate through the belt drive pulley 40 and the belt 42, and the welding positioning seat 1 rotates following the pulley 41.

[0031] The cross-flow impeller welding equipment based on vision detection is provided with a first image acquisition module 4 obliquely above the welding positioning seat 1. By adopting a non-vertical oblique shooting method, the shooting angle has no interference with the movement direction of the welding head assembly 2, ensuring that the equipment does not need to stop for adjustment during continuous operation. The workpiece identification point 37 on the welding positioning seat 1 can be quickly captured by the first image acquisition module 4. The control system calculates the offset in real time and drives the first rotation correction mechanism 3 to adjust the position of the welding positioning seat 1, realizing dynamic correction. This design avoids the low efficiency problem of the mechanical arm frequently moving the camera in the traditional solution. When the workpiece is grabbed and transferred to the welding positioning seat 1 by the corresponding mechanical clamping mechanism, the first image acquisition module 4 can complete the photographing instantly, greatly reducing the standby time of the equipment and improving the welding production efficiency.

[0032] In this embodiment, the top surface of the cross-flow impeller is circular, and the origin of the top surface is circular. When the cross-flow impeller is photographed by the first image acquisition module 4 in an oblique shooting manner to obtain the top surface of the blade, a first view is obtained. In the first view, the projection of the top surface of the cross-flow impeller is elliptical. Therefore, it is necessary to perform a circularization process on the elliptical projection to calculate a more accurate offset between the current coordinate position of the workpiece identification point 37 and the set welding origin coordinate position.

[0033] In one embodiment, the image processing module preprocesses the image, including grayscale conversion, denoising, and edge detection, to extract a clear elliptical contour; then uses an ellipse fitting algorithm such as the least squares method to extract the geometric parameters of the ellipse from the edge information, including the center point, major axis, minor axis, and rotation angle; then rotates and corrects the image according to the rotation angle of the ellipse to align its main axis with the horizontal or vertical direction; finally, performs non-uniform scaling on the image according to the ratio of the major axis to the minor axis to adjust the ellipse to a circle, and finally crops the redundant part and outputs the corrected circular image, that is, the shape after origin correction.

[0034] The welding head assembly 2 includes a welding frame 8. A support member 9 for installing and fixing the first image acquisition module 4 is provided on the welding frame 8. The first image acquisition module 4 is a first camera and is obliquely arranged on the support member 9. The shooting end of the first image acquisition module 4 is obliquely oriented towards the welding positioning seat 1.

[0035] In this embodiment, the support member 9 is rotatably arranged on the welding frame 8 through a rotating shaft. One end of the support member 9 is provided with a rotating seat connected to the first image acquisition module 4. The inclination angle position of the first image acquisition module 4 on the support member 9 is adjusted through the rotating seat and the support member 9.

[0036] The welding head assembly 2 fixes the first image acquisition module 4 through the welding frame 8 and the bracket 9, so that it is tilted toward the welding positioning seat 1 to ensure that the shooting field of view covers the workpiece identification part. The first image acquisition module 4 uses a first camera, and the oblique installation method does not interfere with the movement of the welding head assembly 2 during the welding process, while maintaining stable imaging. This structure optimizes the response speed of visual detection, so that the equipment can still accurately identify the welding origin when running at high speed, reduce the adjustment time required for traditional vertical shooting, and improve the overall production efficiency of the equipment.

[0037] In this embodiment, the welding head assembly 2 is an ultrasonic welding head, and a lifting cylinder 43 is provided on the welding frame 8, which is transmission connected to the welding head assembly 2. The piston rod of the lifting cylinder 43 is transmission connected to the welding head assembly 2, and the lifting cylinder 43 drives the welding head assembly 2 to rise and fall to move away from or approach the welding positioning seat 1.

[0038] The crossflow impeller welding device further includes a gripper and transfer mechanism 10, a first workpiece positioning seat 11 disposed on an outer side of the gripper and transfer mechanism 10, and a second image acquisition module 12 located above the first workpiece positioning seat 11; The first positioning seat 11 is used to place the wind wheel end cover 13; The second image acquisition module 12 is electrically connected to the control system and is used to capture a second view on the first workpiece positioning seat 11, and the second view is transmitted to the control system; The gripper-transplanting mechanism 10 is electrically connected to the control system and is used to grasp and transfer the workpiece; After acquiring the second view information, the control system sends a command to the gripper transfer mechanism 10 , and the gripper transfer mechanism 10 moves toward the first workpiece positioning seat 11 and grabs and transfers the workpiece on the first workpiece positioning seat 11 to the welding positioning seat 1 .

[0039] The gripper transfer mechanism 10 grabs the workpiece of the first workpiece positioning seat 11 according to the instruction and transfers it to the welding positioning seat 1. The whole process does not need to stop to wait for visual inspection, which improves the continuity of the equipment. This structure reduces manual intervention, making the process of the workpiece being transported from the first workpiece positioning seat 11 to be photographed and then grabbed and transferred by the gripper transfer mechanism 10 to the welding positioning seat 1 seamless, significantly improving production efficiency.

[0040] The gripper transplanting mechanism 10 is provided with a second workpiece positioning seat 14 on the other outer side, and a second rotation correction mechanism 15 is provided below the second workpiece positioning seat 14; The second workpiece positioning seat 14 is used to place the wind wheel end cover 16; The second image acquisition module 12 is reciprocally movably arranged between the first workpiece positioning seat 11 and the second workpiece positioning seat 14. The second image acquisition module 12 moves above the second workpiece positioning seat 14 to capture a third view of the second workpiece positioned on the second workpiece positioning seat 14. The third view is transmitted to the control system, and the image processing module of the control system processes the image information of the third view. The second rotation correction mechanism 15 is in transmission connection with the second workpiece positioning seat 14 and is electrically connected to the control system. After the image processing module of the control system completes the image processing information, it makes calculations and issues instructions to the second rotation correction mechanism 15 according to the calculation results. The second rotation correction mechanism 15 drives the second workpiece positioning seat 14 to run in the correction direction. After the second workpiece positioning seat 14 is corrected, the gripper transplanting mechanism 10 moves towards the second workpiece positioning seat 14 and grabs and transfers the workpiece on the second workpiece positioning seat 14 to the welding positioning seat 1.

[0041] In this embodiment, the second workpiece positioning seat 14 is rotatably arranged on the top of the fixed frame 46. The second rotation correction mechanism 15 includes a second correction drive motor 47. The drive shaft of the second correction drive motor 47 passes through the top of the fixed frame 46 and is in transmission connection with the second workpiece positioning seat 14, so that the second workpiece positioning seat 14 is rotatably arranged on the top of the fixed frame 46.

[0042] In this embodiment, the gripper transplanting mechanism 10 includes a bracket 48, a transplanting motor 49 arranged at the bottom of the bracket 48, and a first lifting cylinder 50 arranged at the top of the bracket 48. A fixing block for fixing the first lifting cylinder 50 is provided on the top of the bracket 48. The drive shaft of the transplanting motor 49 passes through the top of the bracket 48 and is connected to the fixing block to drive the fixing block and the first lifting cylinder 50 to rotate circumferentially at the bottom of the bracket 48. A transverse connecting arm 51 is provided at the top of the piston rod of the first lifting cylinder 50, and a first vacuum chuck 51 for gripping the workpiece is provided at one end of the transverse connecting arm 51.

[0043] The second workpiece positioning seat 14 and the second rotation correction mechanism 15 cooperate with the second image acquisition module 12 to realize the automatic correction of the end cover 16 of the wind wheel end section. The second image acquisition module 12 can switch to capture the second view and the third view under the drive of the transverse movement mechanism.

[0044] The control system drives the second rotation correction mechanism 15 to adjust the second workpiece positioning seat 14 according to the image processing result, so that the gripper transplanting mechanism 10 can quickly grab the corrected workpiece to reduce the production cycle time.

[0045] Above the first workpiece positioning seat 11 and the second workpiece positioning seat 14, there is a cross beam 17, and a movable plate 18 that reciprocates on the cross beam 17 and is connected to the second image acquisition module 12; The second image acquisition module 12 is a second camera; Between the cross beam 17 and the movable plate 18, there is a translation drive 19, and the translation drive 19 is fixed on the cross beam 17; The output shaft of the translation drive 19 is in transmission connection with the movable plate 18 to drive the movable plate 18 and the second image acquisition module 12 to reciprocate on the cross beam 17; The translation drive 19 is a cylinder.

[0046] The cross beam 17, the movable plate 18 and the translation drive 19 constitute a transverse movement mechanism of the second image acquisition module 12, enabling it to quickly switch between the first workpiece positioning seat 11 and the second workpiece positioning seat 14. The translation drive 19 is driven by a cylinder, with a fast response speed, ensuring that the second image acquisition module 12 (the second camera) efficiently completes multi-station shooting. This structure optimizes the coverage range of visual inspection, avoids using multiple independent cameras, reduces the complexity of the equipment, and improves the detection efficiency at the same time, making the equipment run more smoothly.

[0047] On one side of the first workpiece positioning seat 11, there is a first clamping mechanism 29. The first clamping mechanism 29 is electrically connected to the control system, and the first clamping mechanism 29 is used to grab the workpiece on the first conveyor line to the first workpiece positioning seat 11; On one side of the second workpiece positioning seat 14, there is a second clamping mechanism 30. The second clamping mechanism 30 is electrically connected to the control system, and the second clamping mechanism 30 is used to grab the workpiece on the second conveyor line to the second workpiece positioning seat 14.

[0048] On one outer side of the gripper transplanting mechanism 10, there is also a third workpiece positioning seat 20. Above the third workpiece positioning seat 20, there is a third image acquisition module 22, and below the third workpiece positioning seat 20, there is a third rotation correction mechanism 23; The third workpiece positioning seat 20 is used to place the wind wheel middle section 24; The third image acquisition module 22 is electrically connected to the control system and is used to take a fourth view of the workpiece on the third workpiece positioning seat 20. The fourth view is transmitted to the control system, and the image processing module of the control system processes the image information of the fourth view; The third rotation correction mechanism 23 is in transmission connection with the third workpiece positioning seat 20, and the third rotation correction mechanism 23 is electrically connected to the control system; The control system performs calculations after the image processing module completes the image processing information and issues instructions to the third rotation correction mechanism 23 according to the calculation results. The third rotation correction mechanism 23 drives the third workpiece positioning seat 20 to run along the correction direction.

[0049] The first clamping mechanism 29 and the second clamping mechanism 30 are connected to the first conveyor line and the second conveyor line respectively to realize automatic loading of the workpiece. The first clamping mechanism 29 grabs the workpiece to the first workpiece positioning seat 11, and the second clamping mechanism 30 transfers the workpiece to the second workpiece positioning seat 14, reducing the manual handling time. This design enables seamless connection between workpiece supply and visual positioning, and cooperates with the rapid transfer of the clamping hand transfer mechanism 10 to ensure continuous and efficient operation of the welding equipment and improve overall production capacity.

[0050] In this embodiment, the first clamping mechanism 29 and the second clamping mechanism 30 have similar designs, and both mechanisms have a lateral drive displacement component and an up and down lifting displacement component, and the up and down lifting displacement component is transmission-connected to the second vacuum suction cup 52 .

[0051] In this embodiment, the lateral drive displacement assembly of the first clamping mechanism 29 includes a first fixed frame 53, a first sliding seat 54 on the first fixed frame 53 that slides back and forth laterally through a slide rail and a slider, and the up and down lifting displacement assembly of the first clamping mechanism 29 includes a second lifting cylinder 55 fixed on the first sliding seat 54, and the piston rod of the second lifting cylinder 55 is transmission connected to the second vacuum suction cup 52; a first lateral pushing cylinder 56 is provided on an outer side of the first fixed frame 53, and the piston rod of the first lateral pushing cylinder 56 is transmission connected to the first sliding seat 54 to drive the first sliding seat 54 and the second lifting cylinder 55 to slide back and forth laterally on the first fixed frame 53.

[0052] In this embodiment, the lateral drive displacement assembly of the second clamping mechanism 30 includes a second fixed frame 56, and a second sliding seat 57 on the second fixed frame 56 that slides back and forth laterally through a slide rail and a slider. The up and down lifting displacement assembly of the first clamping mechanism 29 includes a lifting motor 58 fixedly set on the second sliding seat 57, a lifting screw 59 transmission connected to the lifting motor 58, and a lifting nut sleeve 60 threadedly connected to the lifting screw 59. An extension arm 61 connected to the second vacuum suction cup 52 is provided below the lifting nut sleeve 60. A second lateral pushing cylinder 62 is provided on an outer side of the second fixed frame 56. The piston rod of the second lateral pushing cylinder 62 is transmission connected to the second sliding seat 57 to drive the second sliding seat 57 and the second vacuum suction cup 52 to slide back and forth laterally on the second fixed frame 56.

[0053] The two clamping mechanisms move the vacuum suction cup to the position where the workpiece needs to be grasped by horizontal movement and lifting.

[0054] Above the third workpiece positioning seat 20, there is a gripper handling mechanism 21; On one side of the third workpiece positioning seat 20, there is a support frame 25. On the support frame 25, there is a moving plate 26. The gripper handling mechanism 21 and the third image acquisition module 22 are fixedly mounted on the moving plate 26 together; Between the support frame 25 and the moving plate 26, there is a power driving mechanism 27. The output end of the power driving mechanism 27 is in transmission connection with the moving plate 26 to drive the moving plate 26 to reciprocate on the support frame 25; The gripper handling mechanism 21 is electrically connected to the control system.

[0055] The third workpiece positioning seat 20, the third image acquisition module 22, and the third rotation correction mechanism 23 realize the automatic correction of the welding origin of the middle section 24 of the wind wheel. The third image acquisition module 22 captures the fourth view and transmits it to the control system to drive the third rotation correction mechanism 23 to adjust the angle of the workpiece. This structure makes the welding origin of the middle section 24 of the wind wheel and the welding positioning seat 1 consistent with the set welding origin, ensuring the welding accuracy, avoiding the cumbersome operations of traditional multi-station inspections, reducing the equipment downtime, and improving the coherence of the welding production.

[0056] In this embodiment, the design structure of the third workpiece positioning seat 20 is similar to that of the second workpiece positioning seat 14, which will not be elaborated here. The third rotation correction mechanism 23 is a rotating motor.

[0057] The gripper handling mechanism 21 includes two first gripper assemblies 28 and second gripper assemblies 36 arranged at intervals. The first gripper assembly 28 is used to grab the workpiece on the third conveyor line onto the third workpiece positioning seat 20. After the correction of the third workpiece positioning seat 20 is completed, the second gripper assembly 36 moves towards the third workpiece positioning seat 20 and grabs and transfers the workpiece on the third workpiece positioning seat 20 onto the welding positioning seat 1; In this embodiment, the first gripper assembly 28 and the second gripper assembly 36 are respectively vacuum suction cups.

[0058] The third image acquisition module 22 is a third camera and is arranged at the upper position between the first gripper assembly 28 and the second gripper assembly 36; On the cross-flow fan welding equipment, there is a sensor for triggering the third image acquisition module 22 to take a photo.

[0059] The gripper handling mechanism 21 and the third image acquisition module 22 are integrated on the moving plate 26 and are driven by the power driving mechanism 27 to reciprocate, realizing the grasping and photo correction of the middle section 24 of the wind wheel. This structure enables the visual inspection and the handling action to be synchronized, avoiding the efficiency loss of traditional step-by-step operations, ensuring that the workpiece can be immediately transferred to the welding positioning seat 1 after correction, and shortening the production cycle.

[0060] In this embodiment, the driving mechanism 27 is a screw-nut driving mechanism or a lateral pushing cylinder mechanism. The nut of the driving mechanism 27 or the piston rod of the pushing cylinder is in transmission connection with the moving plate 26, so that the two clamping hand assemblies and the third image acquisition module 22 reciprocate and slide together. A third lifting cylinder 63 connected to the two clamping hand assemblies is provided on the moving plate 26.

[0061] The first clamping hand assembly 28 and the second clamping hand assembly 36 cooperate with each other, and are respectively responsible for loading and transferring the corrected workpieces. The third image acquisition module 22 is located between the two, and is triggered by a sensor to take pictures, ensuring seamless connection between detection and handling. This design optimizes the processing efficiency of the middle-section workpieces, avoids the waiting time of the traditional single-clamping hand mechanism, and enables the welding equipment to operate at a high speed continuously.

[0062] A supplementary light module 31 for generating a projection light source is provided on the cross-flow fan welding equipment, and the projection end of the supplementary light module 31 faces the welding positioning seat 1 along the light propagation direction; A first positioning module 32 and a second positioning module 33 are respectively provided on both sides of the welding positioning seat 1. The welding positioning seat 1 is located between the first positioning module 32 and the second positioning module 33. A fixing seat 35 is provided on one side of the first positioning module 32 and the second positioning module 33. An adjusting driving mechanism 34 is provided on the fixing seat 35. The first positioning module 32 and the second positioning module 33 are respectively in transmission connection with the adjusting driving mechanism 34. The first positioning module 32 and the second positioning module 33 are respectively slidably connected to the fixing seat 35. The adjusting driving mechanism 34 drives the first positioning module 32 and the second positioning module 33 to slide towards or away from each other on the fixing seat 35, so as to adjust the distance between the first positioning module 32 and the second positioning module 33.

[0063] In this embodiment, the adjusting driving mechanism 34 includes an adjusting driving motor 44 and an adjusting screw 45. The driving shaft of the adjusting driving motor 44 is connected to the adjusting screw 45. A first nut sleeve fixedly connected to the first positioning module 32 and a second nut sleeve fixedly connected to the second positioning module 33 are provided on the adjusting screw 45. The first positioning module 32 and the fixing seat 35 are slidably connected through a first slide rail assembly (slide rail and slider), and the second positioning module 33 and the fixing seat 35 are slidably connected through a second slide rail assembly (slide rail and slider).

[0064] The mechanism for the adjusting screw 45 to drive the two positioning modules to approach or move away from each other is mainly realized by a positive and negative thread screw (or positive and negative lead screw, left and right hand screw). The positive and negative thread screw has left-handed and right-handed thread segments. When the adjusting screw 45 rotates, the nut sleeve of the left-handed thread segment will move forward, while the nut sleeve of the right-handed thread segment will move backward, thereby achieving the effect of the two positioning modules approaching or moving away from each other.

[0065] The supplementary light module 31 provides a stable light source to ensure clear imaging of the first image acquisition module 4 during oblique shooting. The first positioning module 32 and the second positioning module 33 adaptively adjust the spacing by adjusting the driving mechanism 34 to accommodate workpieces of different sizes. This structure enhances the versatility of the equipment while maintaining high-precision positioning, making the welding process more efficient and stable, and reducing the adjustment time caused by differences in workpiece sizes.

[0066] Specifically: The welding process of a cross-flow fan wheel welding device based on vision detection is as follows: Step 1: First, the fan wheel end cover 13 is conveyed to the first set position through the first conveyor line. The first clamping mechanism 29 grabs the fan wheel end cover 13 and transfers it to the first workpiece positioning seat 11. The second image acquisition module 12 takes an image of the fan wheel end cover 13 to obtain the current coordinate position of the identification point 37. The gripper transplanting mechanism 10 grabs the fan wheel end cover 13 on the first workpiece positioning seat 11 and transfers it to the welding positioning seat 1. The first rotation correction mechanism 3 is activated to perform position correction before welding.

[0067] Step 2: The fan wheel middle section 24 is conveyed to the second set position through the third conveyor line. The first gripper assembly 28 of the gripper handling mechanism 21 grabs the fan wheel middle section 24 and transfers it to the third workpiece positioning seat 20. The third image acquisition module 22 takes an image of the fan wheel middle section 24 on the third workpiece positioning seat 20. The third rotation correction mechanism 23 is activated to perform position correction. The first gripper assembly 28 of the gripper handling mechanism 21 resets. The second gripper assembly 36 of the gripper handling mechanism 21 grabs the fan wheel middle section 24 after position correction on the third workpiece positioning seat 20 and transfers it to the welding positioning seat 1. The welding head assembly 2 moves downward to achieve ultrasonic welding. Due to vibration during the ultrasonic welding process, after welding, the first image acquisition module 4 takes an image of the fan wheel middle section 24 welded to the fan wheel end cover 13. The first rotation correction mechanism 3 is activated to perform position correction before welding.

[0068] Since there are multiple fan wheel middle sections 24 in the cross-flow fan wheel, the subsequent fan wheel middle sections 24 are operated according to Step 2.

[0069] Step 3: When the welding quantity of the middle section 24 of the wind wheel reaches the set value, finally weld the end cover 16 of the wind wheel end section with the middle section 24 of the wind wheel at the uppermost layer of the welding positioning seat 1. The end cover 16 of the wind wheel end section is conveyed to the third set position through the second conveying line. The second clamping mechanism 30 grabs the end cover 16 of the wind wheel end section and transfers it to the second workpiece positioning seat 14. The second image acquisition module 12 moves above the second workpiece positioning seat 14 and takes an image of the end cover 16 of the wind wheel end section. The second rotation correction mechanism 15 is started to achieve position correction. The gripper transplanting mechanism 10 grabs the end cover 16 of the wind wheel end section on the second workpiece positioning seat 14 and transfers it to the welding positioning seat 1. The welding head assembly 2 moves downward to complete the welding of the entire cross-flow wind wheel. The completed product can be manually unloaded.

[0070] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cross-flow impeller welding device based on visual detection, characterized in that: It comprises a welding positioning seat (1), a welding head assembly (2), a first rotation correction mechanism (3), a first image acquisition module (4) and a control system; The welding positioning seat (1) is used to place a workpiece to be welded, and the workpiece is provided with a marking point (37) for marking a welding origin; The welding head assembly (2) is arranged above the welding positioning seat (1) and moves towards the welding positioning seat (1) when the workpiece is welded; The first image acquisition module (4) is electrically connected to the control system and is used to capture a first view on the welding positioning seat (1), and the first view is transmitted to the control system; the first image acquisition module (4) is arranged obliquely above the welding positioning seat (1), and the shooting angle direction of the first image acquisition module (4) does not interfere with the movement direction of the welding head assembly (4) during the operation of the equipment; The control system is provided with an image processing module for processing image information of the first view, so that the control system calculates the offset between the current coordinate position of the workpiece identification point (37) and the set welding origin coordinate position before the workpiece is welded; The first rotation correction mechanism (3) is electrically connected to a control system, the first rotation correction mechanism (3) is transmission-connected to a welding positioning seat (1), the control system sends a command to the first rotation correction mechanism (3) according to the calculated offset, and the first rotation correction mechanism (3) drives the welding positioning seat (1) to run along a correction direction, so as to achieve correction of the workpiece before welding.

2. The cross-flow impeller welding device based on visual detection according to claim 1, wherein: The welding head assembly (2) comprises a welding frame (8), on which a bracket (9) for mounting and fixing a first image acquisition module (4) is provided, the first image acquisition module (4) being a first camera and being obliquely arranged on the bracket (9), with a shooting end of the first image acquisition module (4) obliquely facing the welding positioning seat (1).

3. The cross-flow impeller welding device based on visual inspection according to claim 1, characterized in that: It also includes a gripping and transplanting mechanism (10), a first workpiece positioning seat (11) arranged on an outer side of the gripping and transplanting mechanism (10), and a second image acquisition module (12) located above the first workpiece positioning seat (11); The first positioning seat (11) is used to place the wind wheel end cover (13); The second image acquisition module (12) is electrically connected to the control system and is used to capture a second view on the first workpiece positioning seat (11), and the second view is transmitted to the control system; The gripper-transferring mechanism (10) is electrically connected to the control system and is used to grasp and transfer workpieces; After acquiring the second view information, the control system sends a command to the gripper transfer mechanism (10), and the gripper transfer mechanism (10) moves toward the first workpiece positioning seat (11) and grabs and transfers the workpiece on the first workpiece positioning seat (11) to the welding positioning seat (1).

4. The cross-flow impeller welding device based on visual detection according to claim 3, characterized in that: A second workpiece positioning seat (14) is provided on the other outer side of the gripper transplanting mechanism (10), and a second rotation correction mechanism (15) is provided below the second workpiece positioning seat (14); The second workpiece positioning seat (14) is used to place the wind wheel end cover (16); The second image acquisition module (12) is reciprocatingly arranged between the first workpiece positioning seat (11) and the second workpiece positioning seat (14), the second image acquisition module (12) moves to above the second workpiece positioning seat (14) to capture a third view of the second workpiece positioning seat (14) on the second workpiece positioning seat (14), the third view is transmitted to the control system, and the image processing module of the control system processes image information of the third view; The second rotation correction mechanism (15) is transmission-connected to the second workpiece positioning seat (14), and the second rotation correction mechanism (15) is electrically connected to the control system. After the image processing module completes the image processing information, the control system performs calculations and sends instructions to the second rotation correction mechanism (15) according to the calculation results. The second rotation correction mechanism (15) drives the second workpiece positioning seat (14) to move along the correction direction. After the second workpiece positioning seat (14) is calibrated, the gripper and transfer mechanism (10) moves toward the second workpiece positioning seat (14) and grabs and transfers the workpiece on the second workpiece positioning seat (14) to the welding positioning seat (1).

5. The cross-flow impeller welding device based on visual inspection according to claim 4, wherein: A crossbeam (17) and a movable plate (18) disposed on the crossbeam (17) for reciprocating movement and connected to the second image acquisition module (12) are provided above the first workpiece positioning seat (11) and the second workpiece positioning seat (14); The second image acquisition module (12) is a second camera; A translation driver (19) is provided between the crossbeam (17) and the movable plate (18), and the translation driver (19) is fixed on the crossbeam (17); The output shaft of the translation driver (19) is in driving connection with the movable plate (18) so as to drive the movable plate (18) and the second image acquisition module (12) to reciprocate and be arranged on the crossbeam (17); The translation driver (19) is a cylinder.

6. The cross-flow impeller welding device based on visual detection according to claim 5, characterized in that: A first clamping mechanism (29) is provided on one side of the first workpiece positioning seat (11), the first clamping mechanism (29) is electrically connected to the control system, and the first clamping mechanism (29) is used to grab the workpiece of the first conveyor line and place it on the first workpiece positioning seat (11); A second clamping mechanism (30) is provided on one side of the second workpiece positioning seat (14); the second clamping mechanism (30) is electrically connected to the control system; the second clamping mechanism (30) is used to grab a workpiece of the second conveyor line and place it on the second workpiece positioning seat (14).

7. The cross-flow impeller welding device based on visual inspection according to claim 3, characterized in that: A third workpiece positioning seat (20) is further provided on an outer side of the gripper transfer mechanism (10), a third image acquisition module (22) is provided above the third workpiece positioning seat (20), and a third rotation correction mechanism (23) is provided below the third workpiece positioning seat (20); The third workpiece positioning seat (20) is used to place the wind wheel middle section (24); The third image acquisition module (22) is electrically connected to the control system and is used to capture a fourth view on the third workpiece positioning seat (20); the fourth view is transmitted to the control system, and an image processing module of the control system processes image information of the fourth view; The third rotation correction mechanism (23) is drivingly connected to the third workpiece positioning seat (20), and the third rotation correction mechanism (23) is electrically connected to the control system; After the image processing module of the control system completes the image processing information, it makes calculations and issues instructions to the third rotation correction mechanism (23) according to the calculation results, and the third rotation correction mechanism (23) drives the third workpiece positioning seat (20) to run in the correction direction.

8. The cross-flow impeller welding device based on visual detection according to claim 6, characterized in that: A gripper handling mechanism (21) is provided above the third workpiece positioning seat (20); A support frame (25) is provided on one side of the third workpiece positioning seat (20), a moving plate (26) is provided on the support frame (25), and the gripper handling mechanism (21) and the third image acquisition module (22) are jointly fixed on the moving plate (26); A power driving mechanism (27) is provided between the support frame (25) and the moving plate (26), and the output end of the power driving mechanism (27) is drivingly connected to the moving plate (26) to drive the moving plate (26) to reciprocate on the support frame (25); The gripper handling mechanism (21) is electrically connected to the control system.

9. The cross-flow impeller welding device based on vision detection according to claim 7, characterized in that: The gripper handling mechanism (21) includes two first gripper assemblies (28) and second gripper assemblies (36) arranged at intervals. The first gripper assembly (28) is used to grab the workpiece on the third conveyor line onto the third workpiece positioning seat (20). After the third workpiece positioning seat (20) completes the correction, the second gripper assembly (36) runs towards the third workpiece positioning seat (20) and grabs and transfers the workpiece on the third workpiece positioning seat (20) to the welding positioning seat (1); The third image acquisition module (22) is a third camera and is arranged at the upper direction position between the first gripper assembly (28) and the second gripper assembly (36); The cross-flow fan welding equipment is provided with a sensor for triggering the third image acquisition module (22) to take a photo.

10. The cross-flow impeller welding device based on visual inspection according to claim 1, wherein: The cross-flow fan welding equipment is provided with a supplementary light module (31) for generating a projection light source, and the projection end of the supplementary light module (31) faces the welding positioning seat (1) along the light propagation direction; First positioning modules (32) and second positioning modules (33) are respectively provided on both sides of the welding positioning seat (1). The welding positioning seat (1) is located between the first positioning module (32) and the second positioning module (33). A fixing seat (35) is provided on one side of the first positioning module (32) and the second positioning module (33), and an adjustment driving mechanism (34) is provided on the fixing seat (35). The first positioning module (32) and the second positioning module (33) are respectively drivingly connected to the adjustment driving mechanism (34), and the first positioning module (32) and the second positioning module (33) are respectively slidably connected to the fixing seat (35). The adjustment driving mechanism (34) drives the first positioning module (32) and the second positioning module (33) to slide towards or away from each other on the fixing seat (35) to adjust the distance between the first positioning module (32) and the second positioning module (33).

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