Weld joint identification device and identification method for steel grating workpiece

Abstract

The invention discloses a welding seam recognition device and recognition method for a steel grating workpiece, and relates to the technical field of welding. The welding seam recognition device of the steel grating workpiece is installed at the welding end of a welding robot and comprises a laser device, a welding robot and a controller, the protective glass main body is located below the laser, the protective glass main body is installed in the center area of the annular frame, the protective glass main body and the annular frame are located in the protective glass shell, the protective glass shell has circumferential freedom degrees, and blades are arranged on the outer edge of the lower surface of the annular frame; according to the welding seam recognition device and method for the steel grating plate workpiece, the annular frame with the freedom degree and the protection glass body are arranged in the circumferential direction, the blades are arranged below the annular frame, and gas in the second-class gas holes is sprayed to the protection glass body to clean the protection glass body; the air in the first-class air holes controls the protection glass body to rotate through the blades, so that the protection glass body is cleaned in a rotating posture, the cleaning area is increased, and the cleaning effect is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to a weld identification device and method for steel grating workpieces. Background Art

[0002] Steel grating (also known as grid grating) is a steel product formed by arranging flat steel in a certain spacing and crosswise with cross bars (twisted square steel, square steel, round steel, flat steel, etc.), and welded into a steel product with square grids in the middle. It has the characteristics of high strength, corrosion resistance, ventilation and light transmission, and is widely used in the fields of construction, industry, transportation, etc., providing functions of support, isolation and protection. In the production process of steel grating, welding is an essential step. Although the current automated welding technology in China has been greatly improved compared with the past, for workpieces with complex structures and diverse specifications such as steel grating, traditional manual welding is still mainly used at present. The main pain points faced by manual welding in China at this stage are: it is difficult to recruit skilled workers, and the cost is high; the efficiency of new workers is low, and the welding quality is unstable. Therefore, the automated welding of non-standard workpieces such as steel grating has always been an urgent need in the industry.

[0003] At present, in the field of automated welding in China, welding operations are mainly realized by means of welding robots. The technical difficulty mainly lies in the automatic identification of welds and the planning of welding paths. There are two main methods: one is through manual teaching, and customized teaching programs are written for different workpieces. The disadvantage of this method is that the teaching program is completely customized according to the workpiece. Once the workpiece specifications change, the teaching program needs to be modified or even rewritten. Therefore, it is usually only applicable to the mass production of standard workpieces. The other is to use a vision camera to take pictures of the weld area of the workpiece, and then identify the weld position through an image analysis algorithm. Compared with the former, the latter is more flexible and does not require a large amount of manual teaching work, but the disadvantage is that for complex workpieces, it is more difficult to implement the identification algorithm.

[0004] In the prior art, a 2D laser camera line scanning method can be used to identify welds. However, in actual applications, due to the splashing of welding fluid, the laser or lens that emits light will be adhered with welding fluid. Generally, the cleaning method that can be adopted is to clean after disassembly.

[0005] Chinese Patent Application CN118371864A proposes a weld identification processing laser welding robot and its processing method, which adopts the method of jetting air flow towards the lens to clean the welding fluid. Although this method can clean, the cleaning position is single and it cannot clean comprehensively, still affecting imaging. Summary of the Invention

[0006] In view of the deficiencies of the prior art, the present invention provides a weld identification device and method for steel grating workpieces, which solves the problem that the welding liquid is cleaned by jetting air towards the lens. Although this method can clean, the cleaning position is single and cannot be cleaned comprehensively, still affecting imaging.

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions: A weld identification device for steel grating workpieces, the weld identification device is installed at the welding end of a welding robot, including: Laser; Protective mirror body, the protective mirror body is located below the laser, the protective mirror body is installed in the central area of the annular frame, the protective mirror body and the annular frame are located within the protective mirror housing and have circumferential freedom within the protective mirror housing, and blades are provided at the outer edge of the lower surface of the annular frame; Air nozzle, the air nozzle is located below the protective mirror body and is used to blow air downward to reduce the welding liquid approaching the protective mirror body; Nozzle housing, the nozzle housing is located between the air nozzle and the protective mirror housing. A first type of air holes and a second type of air holes are arranged in a circumferential matrix along the axis on the nozzle housing. The diameter of the circular matrix formed by the second type of air holes is smaller than the diameter of the circular matrix formed by the first type of air holes. The second type of air holes is used to provide blowing gas to the protective mirror body, and the first type of air holes is used to supply gas to the blades so that the protective mirror body is cleaned by the blowing gas in a rotating posture.

[0008] Furthermore, the upper part of the nozzle housing is set as an inner convex ring, the upper part of the inner convex ring has a second upper conical part, the second upper conical part is located below the annular frame and within the inner circumference of the blades, and there is a slit between the second upper conical part and the protective mirror body. The gas for driving the rotation of the blades can be sprayed from the slit in a jet form from the periphery of the protective mirror body in an inwardly radiating state onto the lower surface of the protective mirror body.

[0009] Furthermore, a horizontal groove is provided at the upper end of the second type of air holes, and a slidable L-shaped nozzle is arranged radially along the nozzle housing within the horizontal groove. The head of the L-shaped nozzle is located in the middle of the nozzle housing and faces the protective mirror body; A corrugated pipe is arranged within the second type of air holes. One end of the corrugated pipe is fixed at the lower end of the second type of air holes, and the other end of the corrugated pipe is fixed on the L-shaped nozzle; A displacement assembly is arranged within the nozzle housing for converting the rotational movement of the annular frame into a reciprocating movement of the L-shaped nozzle along the radial direction of the nozzle housing.

[0010] Furthermore, the displacement assembly includes: Moving cylinder, a relief ring groove is provided at the lower part of the protective mirror housing, the moving cylinder is located in the relief ring groove, a limit seat is provided at the lower end of the annular frame, a slider is fixedly provided on one side of the limit seat, a bidirectional spiral groove is provided on the inner surface of the moving cylinder, and the moving cylinder can be axially driven to move through the slider and the bidirectional spiral groove when the annular frame rotates; Slope rod, the slope rod is suspended in the area opposite to the L-shaped nozzle through a suspension rod, there is a track on the slope rod, and the L-shaped nozzle is limited in the track.

[0011] Further, the displacement assembly includes: Cam, the cam is arranged on the circumferential periphery of the limit seat; Moving rod, a relief ring groove is provided at the lower part of the protective mirror housing, the lower end of the moving rod is fixed on the L-shaped nozzle, and a spring is installed between the moving rod and the inner wall of the relief ring groove.

[0012] Further, the upper surface of the annular frame has a first upper conical part, a pressing ring is provided above the protective mirror housing, a notch adapted to the first upper conical part is provided on the lower surface of the pressing ring, and a pressing drive assembly for driving the pressing ring to lift and lower is further provided in the protective mirror housing; When the pressing ring is pressed down onto the first upper conical part, the protective mirror body is stable and immovable, and when the pressing ring is lifted upward and separated from the first upper conical part, the annular frame can rotate freely.

[0013] Further, the pressing drive assembly includes: Lead screw, assembly grooves are provided on both sides inside the protective mirror housing, a rotatable lead screw is provided in the assembly groove, a nut is threadedly connected to the outer surface of the lead screw, and the nut is fixedly connected to the pressing ring; Driven bevel gear, the driven bevel gear is fixedly provided at the upper end of the nut, and a driving bevel gear is meshed on one side of the driven bevel gear, and a motor for driving the driving bevel gear to rotate is provided on one side of the protective mirror housing; Gear, the gear is fixedly provided at the upper end of the lead screw; Toothed ring, the toothed ring is concentric with the protective mirror housing and meshes with both gears.

[0014] Further, an air inlet ring groove I is provided at the bottom of the nozzle housing, both the first type of air holes and the second type of air holes are communicated with the air inlet ring groove I, and an upper air inlet joint communicated with the air inlet ring groove I is provided on one side below the nozzle housing; The air nozzle is of a conical nozzle structure, an air inlet ring groove II is provided above the air nozzle, a plurality of air outlet holes are provided below the air inlet ring groove II, and a lower air inlet joint is provided on one side above the air nozzle; The air source, the upper air inlet joint and the lower air inlet joint are connected through a three-way valve.

[0015] Further, a collimator and a laser are sequentially arranged above the protective mirror body from bottom to top, and a receiving lens and a detector are arranged on one side of the collimator.

[0016] On the other hand, the present invention also provides a method for identifying welds of a steel grating workpiece, which is applicable to the weld identification device for the above-mentioned steel grating workpiece, and includes the following steps: Identification stage: The robot controls the identification device to move, and the laser emits laser light. The laser beam is vertically incident on the surface of the steel grating after passing through the collimator and the protective mirror body. The scattered light on the surface is imaged on the detector array by the receiving lens, and a contour image of the object surface is generated. At the same time, the three-way valve connects the gas source with the second intake ring groove, so that the air nozzle blows air towards the steel grating to reduce the probability of welding liquid splashing onto the protective mirror body; Cleaning stage: Control the pressing drive assembly to drive the pressing ring away from the mirror frame, and control the three-way valve to connect the gas source with the first intake ring groove. The gas is split into the first type of air holes and the second type of air holes. The gas in the second type of air holes is sprayed onto the protective mirror body to clean the protective mirror body. The gas in the first type of air holes controls the rotation of the protective mirror body through the blades, so that the protective mirror body is cleaned in a rotating posture.

[0017] The present invention has the following beneficial effects: (1) For the weld identification device and method of the steel grating workpiece, by providing an annular frame and a protective mirror body with freedom in the circumferential direction, and arranging blades below the annular frame, the gas in the second type of air holes is sprayed onto the protective mirror body to clean the protective mirror body, and the gas in the first type of air holes controls the rotation of the protective mirror body through the blades, so that the protective mirror body is cleaned in a rotating posture, improving the cleaning area and ensuring the cleaning effect.

[0018] (2) For the weld identification device and method of the steel grating workpiece, the displacement component can convert the rotational motion of the annular frame into the reciprocating motion of the L-shaped nozzle in the second type of air holes, increasing the cleaning sites and further enhancing the cleaning effect.

[0019] (3) For the weld identification device and method of the steel grating workpiece, by providing a slit on the periphery of the protective mirror body, the airflow used to drive the rotation of the blades can pass through the slit and spray onto the lower surface of the protective mirror body in a radially inward state from the periphery of the protective mirror body in a jet form. On the one hand, this can avoid the situation of impurities overflowing affected by centrifugal force, and on the other hand, it can further clean the protective mirror body. Compared with the method of simply blowing air onto the protective mirror body from bottom to top, horizontal blowing is more conducive to the downward shedding of impurities from the protective mirror body.

[0020] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0021] Figure 1 Schematic diagram of the present invention assembled on a welding robot; Figure 2 For the present invention Figure 1 Enlarged view of area A; Figure 3 First perspective view of the present invention; Figure 4 Second perspective view of the present invention; Figure 5 Cross-sectional view of Embodiment 1 of the present invention; Figure 6 Imaging principle diagram of the present invention; Figure 7 Schematic diagram of the internal structures of the protective mirror housing, nozzle housing, and air nozzle in Embodiment 1 of the present invention; Figure 8 Bottom perspective view of the mirror frame in Embodiment 1 of the present invention; Figure 9 Schematic diagram of the structure of the mirror frame after being cross-sectioned in Embodiment 1 of the present invention, where (a) is the upper perspective view and (b) is the lower perspective view; Figure 10 Schematic diagram of the internal structures of the protective mirror housing and nozzle housing in Embodiment 1 of the present invention; Figure 11 For the present invention Figure 10 Enlarged view of area C; Figure 12 Schematic diagram of the internal structure of the nozzle housing in Embodiment 1 of the present invention; Figure 13 Perspective view of a type of air holes in the nozzle housing in Embodiment 1 of the present invention; Figure 14 Perspective view of a type of air holes and a second type of air holes in the nozzle housing in Embodiment 1 of the present invention; Figure 15 Assembly drawing of the mirror frame and displacement assembly in Embodiment 1 of the present invention; Figure 16 For the present invention Figure 15 Exploded view; Figure 17 Schematic diagram of the internal structure of the protective mirror housing in Embodiment 1 of the present invention; Figure 18 For the present invention Figure 7 Enlarged view of area B; Figure 19 Schematic diagram of the displacement assembly in Embodiment 2 of the present invention; Figure 20 Schematic diagram of the position of the cam in Embodiment 2 of the present invention.

[0022] In the figure, 1 is a welding robot; 2 is a welding torch; 3 is a following frame; 4 is an identification device; 5 is a gas nozzle; 51 is a second air inlet annular groove; 52 is an air outlet hole; 61 is an L-shaped nozzle; 62 is a corrugated pipe; 7 is a lens holder; 71 is an annular holder; 72 is a first upper conical part; 73 is a blade; 74 is a limit seat; 8 is a displacement assembly; 81 is a moving cylinder; 82 is a suspension rod; 83 is a slope rod; 84 is a slider; 85 is a bidirectional spiral groove; 86 is a spring; 87 is a moving rod; 88 is a cam; 9 is a pressing drive assembly; 91 is a motor; 92 is a driving bevel gear; 93 is a driven bevel gear; 94 is a lead screw; 95 is a nut; 96 is a toothed ring; 97 is a gear; 10 is a receiving lens; 11 is a detector; 12 is a laser housing; 121 is a mounting head housing; 13 is a collimator housing; 14 is a protective mirror housing; 141 is a motor cover; 142 is an assembly groove; 143 is a relief annular groove; 15 is a nozzle housing; 151 is a relief hole; 152 is a relief groove; 153 is a first type of air hole; 154 is a transverse groove; 155 is a second type of air hole; 156 is a first air inlet annular groove; 157 is an inner convex ring; 158 is a second upper conical part; 16 is a protective mirror body; 17 is a slit; 18 is an upper air inlet joint; 19 is a lower air inlet joint; 20 is a laser; 21 is a collimator; 22 is a pressing ring. Detailed implementation mode

[0023] The following is based on Figures 1 - 20 Describe the weld identification device and identification method for steel grating workpieces provided by the embodiments of the present invention.

[0024] Embodiment 1: Please refer to Figure 1 and Figure 2 , the embodiment of the present invention provides a weld identification device for steel grating workpieces. The weld identification device for steel grating workpieces is Figure 1 and Figure 2 The identification device 4 in, and the identification device 4 is installed at the welding end of the welding robot 1 through the following frame 3. There is also a welding torch 2 at the welding end, and both can move together with the welding head of the welding robot 1. The identification device 4 can identify the weld.

[0025] Combined with Figures 3 - 5 As shown, the weld identification device for steel grating workpieces here includes a laser 20, a collimator 21, and a protective mirror body 16 arranged in sequence from top to bottom. The laser 20 is assembled in the laser housing 12, the protective mirror body 16 is assembled in the protective mirror housing 14, the laser housing 12 is provided with an integral mounting head housing 121, the collimator 21 is assembled in the collimator housing 13, and the laser housing 12, the collimator housing 13, and the protective mirror housing 14 are sequentially connected by bolts to form an integral housing. A receiving lens 10 and a detector 11 are also arranged on one side of the collimator housing 13.

[0026] Refer to Figure 6For better understanding, in this embodiment, the welding end is controlled by the welding robot 1. During the movement, the laser beam emitted by the laser 20 is focused by the collimator 21 and then vertically radiated onto the surface of the steel grating workpiece through the protective mirror body 16. The scattered light on the surface of the steel grating workpiece passes through the protective lens and is imaged on the array of the detector 11 by the receiving lens 10, thereby generating a contour image of the object surface. Finally, all the collected image frames are synthesized into an overall 3D point cloud.

[0027] As Figure 7 , in order to reduce the splashing of welding slag and other splashing impurities generated during welding by the welding robot 1 onto the lower surface of the protective mirror body 16, and to facilitate the cleaning of impurities on the protective mirror body 16, a nozzle housing 15 is provided below the protective mirror housing 14, and a nozzle 5 is provided at the lower end of the nozzle housing 15. Thus, both the nozzle housing 15 and the nozzle 5 are located below the protective mirror body 16. The nozzle 5 is used to blow air downward, and the air flow can generate an outward positive pressure on the splashing welding slag or impurities, thereby reducing the welding slag approaching the protective mirror body 16 and greatly reducing the probability that the protective mirror body 16 is blocked and cannot transmit light. When the protective mirror body 16 is blocked and the image is unclear, air is blown upward inside the nozzle housing 15 to blow the dust off the protective mirror body 16.

[0028] Combined with Figure 5 and Figure 7 shown, in order to achieve a full - range cleaning of the protective mirror body 16, a mirror frame 7 is also provided inside the protective mirror housing 14. The mirror frame 7 includes an annular frame 71. The protective mirror body 16 is installed in the central area of the annular frame 71. The annular frame 71 has a circumferential degree of freedom inside the protective mirror housing 14. At the outer edge of the lower surface of the annular frame 71, there are blades 73. When the blades 73 are subjected to a thrust force, the annular frame 71 can be rotated, so that the protective mirror body 16 is cleaned by the blowing gas in a rotating posture.

[0029] As Figures 7 - 14 shown, specifically, in order to enable the blades 73 to be stressed and the protective mirror body 16 to receive the cleaning gas, a first type of air holes 153 and a second type of air holes 155 are arranged in a circumferential matrix along the axial direction on the nozzle housing 15. The diameter of the circular matrix formed by the second type of air holes 155 is smaller than the diameter of the circular matrix formed by the first type of air holes 153, that is, the second type of air holes 155 are close to the inner periphery of the nozzle housing 15, and the first type of air holes 153 are close to the outer periphery of the nozzle housing 15. The second type of air holes 155 close to the inner periphery of the nozzle housing 15 are used to provide blowing gas to the protective mirror body 16, and the first type of air holes 153 close to the outer periphery of the nozzle housing 15 supply air to the blades 73. When the first type of air holes 153 supply air to the blades 73, the blades 73 are affected by the positive air pressure and push the annular frame 71 to rotate. When the annular frame 71 rotates, it can drive the protective mirror body 16 to rotate, so that the protective mirror body 16 is cleaned by the blowing gas in a rotating posture, improving the uniformity of cleaning.

[0030] Referring to Figures 9 - 11 As shown, when the protective mirror body 16 rotates, it will generate a centrifugal force on the impurities blown off from the protective mirror body 16 by the second-type air holes 155, resulting in some impurities not being able to break away from the housing downward. Therefore, the upper part of the nozzle housing 15 is provided with an inner convex ring 157. The upper part of the inner convex ring 157 has an upper conical part two 158. The upper conical part two 158 is located below the annular frame 71 and inside the periphery of the blade 73. There is a slit 17 between the upper conical part two 158 and the protective mirror body 16.

[0031] In this embodiment, the airflow used to drive the blade 73 to rotate can pass through the slit 17 and spray onto the lower surface of the protective mirror body 16 in a radially inward jet form from the periphery of the protective mirror body 16. On the one hand, this can avoid the situation of impurities overflowing affected by the centrifugal force. On the other hand, it can further clean the protective mirror body 16. Compared with the method of blowing air on the protective mirror body 16 from bottom to top alone, horizontal blowing is more conducive to the downward shedding of impurities from the protective mirror body 16.

[0032] As Figure 14 and Figure 15 shown, in order to further improve the cleaning ability of the second-type air holes 155 for the protective mirror body 16, a transverse groove 154 is provided at the upper end of the second-type air holes 155. An L-shaped nozzle 61 that can slide is provided along the radial direction of the nozzle housing 15 in the transverse groove 154. The head of the L-shaped nozzle 61 is located in the middle of the nozzle housing 15 and faces the protective mirror body 16. A corrugated pipe 62 is provided in the second-type air holes 155. One end of the corrugated pipe 62 is fixed to the lower end of the second-type air holes 155, and the other end of the corrugated pipe 62 is fixed to the L-shaped nozzle 61. A displacement assembly 8 is provided in the nozzle housing 15 for converting the rotational movement of the annular frame 71 into a reciprocating movement of the L-shaped nozzle 61 along the radial direction of the nozzle housing 15.

[0033] In this embodiment, when the annular frame 71 rotates, the displacement assembly 8 drives the L-shaped nozzle 61 to perform a reciprocating movement along the radial direction of the nozzle housing 15, so that the nozzle head of the L-shaped nozzle 61 can align with different positions of the protective mirror body 16 for cleaning. The corrugated pipe 62 here is used to compensate for the displacement of the L-shaped nozzle 61.

[0034] Combined with Figure 7 、 Figure 10 、 Figure 15 and Figure 16As shown, the above-mentioned displacement assembly 8 includes a moving cylinder 81 and a slope rod 83. A clearance ring groove 143 is provided at the lower part of the protective mirror housing 14. The moving cylinder 81 is located in the clearance ring groove 143. A limit seat 74 is provided at the lower end of the annular frame 71. A slider 84 is fixedly provided on one side of the limit seat 74. A bidirectional spiral groove 85 is provided on the inner surface of the moving cylinder 81. When the annular frame 71 rotates, the moving cylinder 81 can be driven axially by the slider 84 and the bidirectional spiral groove 85. The slope rod 83 is suspended by a suspension rod 82 in the area opposite to the L-shaped nozzle 61. There is a track on the slope rod 83, and the L-shaped nozzle 61 is limited within the track.

[0035] In this embodiment, when the annular frame 71 rotates, it drives the slider 84 to rotate as well. The slider 84 moves along the bidirectional spiral groove 85, which in turn drives the movable cylinder 81 up and down. This up and down movement drives the ramp rod 83 below it up and down. Due to the ramp effect, the L-shaped nozzle 61 can reciprocate along its own axis. The bidirectional spiral groove 85 and the reciprocating screw rod have the same thread.

[0036] Preferably, a clearance hole 151 is provided in the nozzle housing 15 for making way for the suspension rod 82 , and a clearance groove 152 is provided for making way for the slope rod 83 .

[0037] Preferably, the track on the slope rod 83 is T-shaped, and the portion of the L-shaped nozzle 61 limited within the track is also T-shaped.

[0038] Since the head of the welding robot 1 is constantly changing its position and angle in the identification state, the protective mirror body 16 and the annular frame 71 with circumferential freedom will produce a small amount of rotation or shaking, which will cause the image to be unclear. Therefore, there is an upper cone 72 on the upper surface of the annular frame 71, and a pressure ring 22 is provided on the upper part of the protective mirror housing 14. The lower surface of the pressure ring 22 is provided with a notch adapted to the upper cone 72. A clamping drive assembly 9 for driving the pressure ring 22 to rise and fall is also provided in the protective mirror housing 14. When the clamping drive assembly 9 drives the pressure ring 22 to be pressed down to the position of the upper cone 72, it can ensure the stability of the protective mirror body 16, that is, when the pressure ring 22 is pressed down to the upper cone 72, the protective mirror body 16 is stable and motionless, and when the pressure ring 22 is upwardly separated from the upper cone 72, the annular frame 71 can rotate freely.

[0039] Combine Figure 7 、 Figure 17 and Figure 18As shown, specifically, the pressing drive assembly 9 here includes a lead screw 94, a driven bevel gear 93, a gear 97, and a toothed ring 96. Assembly grooves 142 are provided on both sides inside the protective mirror housing 14. A rotatable lead screw 94 is provided in the assembly groove 142. A nut 95 is threadedly connected to the outer surface of the lead screw 94. The nut 95 is fixedly connected to the pressure ring 22. The driven bevel gear 93 is fixedly provided at the upper end of the nut 95, and a driving bevel gear 92 is engaged with one side of the driven bevel gear 93. A motor 91 for driving the driving bevel gear 92 to rotate is provided on one side of the protective mirror housing 14. The gear 97 is fixedly provided at the upper end of the lead screw 94. The toothed ring 96 is concentric with the protective mirror housing 14 and is engaged with both gears 97.

[0040] Preferably, a motor cover 141 for accommodating the motor 91 is provided on the protective mirror housing 14.

[0041] In this embodiment, when the motor 91 works, the driving bevel gear 92 can drive the driven bevel gear 93 to rotate. When the driven bevel gear 93 rotates, the lead screw 94 on one side can rotate. Also, due to the action of the toothed ring 96 and the gear 97, both lead screws 94 can rotate. Then the nut 95 moves up and down, driving the pressure ring 22 to move up or down.

[0042] Combined Figure 5 and Figure 7 As shown, in order to facilitate the intake of gas for the first type of air holes 153 and the second type of air holes 155, an intake ring groove one 156 is provided at the bottom of the nozzle housing 15. Both the first type of air holes 153 and the second type of air holes 155 are communicated with the intake ring groove one 156. An upper intake joint 18 communicated with the intake ring groove one 156 is provided on one side below the nozzle housing 15. After the gas enters the upper intake joint 18, it can be dispersed into the first type of air holes 153 and the second type of air holes 155 through the intake ring groove one 156.

[0043] In addition, the nozzle 5 is of a conical nozzle structure. An intake ring groove two 51 is opened above the nozzle 5. A plurality of air outlet holes 52 are provided below the intake ring groove two 51. A lower intake joint 19 is provided on one side above the nozzle 5. After the gas passes through the lower intake joint 19, it can reach the intake ring groove two 51 and be ejected through the air outlet holes 52, so that the gas is blown out from the lower end of the nozzle 5.

[0044] Preferably, the air source, the upper intake joint 18, and the lower intake joint 19 are connected through a three-way valve. Thus, by adjusting the three-way valve, selecting to connect the air source to the upper intake joint 18 or the air source to the lower intake joint 19 can realize the transformation between the identification state and the cleaning state.

[0045] During use (operation), in the welding stage: The welding robot 1 controls the movement of the welding end. During the movement, the laser 20 emits a laser beam, which is focused by the collimator 21 and then vertically incident on the surface of the steel grating workpiece through the protective mirror body 16. The scattered light on the surface of the steel grating workpiece passes through the protective lens and is imaged on the array of the detector 11 by the receiving lens 10, thereby generating a contour image of the object surface. Finally, all the collected image frames are synthesized into an overall 3D point cloud. At the same time, the three-way valve connects the gas source to the lower air inlet joint 19. The gas can reach the second air inlet ring groove 51 after passing through the lower air inlet joint 19 and is ejected through the air outlet holes 52, so that the gas is blown out from the lower end of the nozzle 5, thereby reducing the probability of the splashed welding liquid reaching the protective mirror body 16 from the nozzle 5.

[0046] In the cleaning stage: The drive motor 91 operates, and the driving bevel gear 92 can drive the driven bevel gear 93 to rotate. When the driven bevel gear 93 rotates, the lead screw 94 on one side can rotate. Also due to the action of the toothed ring 96 and the gear 97, both lead screws 94 can rotate, and then move upward relative to the upper nut 95, driving the pressing ring 22 to move upward, so that the pressing ring 22 disengages from the first upper conical part 72 upward, enabling the circumferential freedom of the annular frame 71 and the protective mirror body 16. At the same time, the three-way valve is controlled to connect the gas source to the upper air inlet joint 18. The gas enters the first air inlet ring groove 156 and is dispersed into the first type of air holes 153 and the second type of air holes 155. The second type of air holes 155 near the inner periphery of the nozzle housing 15 are used to supply blowing gas to the protective mirror body 16. The gas can enter the corrugated pipe 62 and is ejected from the L-shaped nozzle 61 to the lower surface of the protective mirror body 16 to blow the ash on its lower surface; when the first type of air holes 153 supply gas to the blades 73, the blades 73 are pushed by the positive air pressure to drive the annular frame 71 to rotate. When the annular frame 71 rotates, it can drive the protective mirror body 16 to rotate, so that the protective mirror body 16 is cleaned by the blowing gas in a rotating posture, improving the cleaning uniformity; at the same time, when the annular frame 71 rotates, the limit seat 74 rotates together. When the slider 84 rotates, it can move in the bidirectional spiral groove 85, and then drive the moving cylinder 81 to move up and down. When it moves up and down, it can drive the slope rod 83 below to move up and down. Due to its slope effect, the L-shaped nozzle 61 can perform reciprocating movement along its own axis, thereby achieving the effect of multi-position cleaning of the L-shaped nozzle 61.

[0047] Embodiment 2: Refer to Figure 19 and Figure 20 This embodiment is different from Embodiment 1 in that the displacement assembly 8 includes a moving rod 87 and a cam 88. The cam 88 is arranged on the circumferential periphery of the limit seat 74. A relief ring groove 143 is opened at the lower part of the protective mirror housing 14. The lower end of the moving rod 87 is fixed to the L-shaped nozzle 61, and a spring 86 is installed between the inner wall of the moving rod 87 and the relief ring groove 143.

[0048] In this embodiment, when the limit seat 74 rotates with the annular frame 71, the cam 88 thereon can push or not push the moving rod 87, enabling the moving rod 87 to move radially along the protective mirror housing 14, so that the moving rod 87 can push and pull the L-shaped nozzle 61 to achieve the reciprocating motion of the L-shaped nozzle 61.

[0049] On the other hand, the present invention also provides a method for identifying welds of a steel grating workpiece, applicable to the weld identification device for the above-mentioned steel grating workpiece, including the following steps: Identification stage: The robot welding robot 1 controls the movement of the identification device 4 and uses the laser 20 to emit laser light. The laser beam is vertically incident on the surface of the steel grating after passing through the collimator 21 and the protective mirror body 16. The scattered light on the surface is then imaged on the array of the detector 11 by the receiving lens 10, and a contour image of the object surface is generated. At the same time, the three-way valve connects the gas source with the second intake annular groove 51, causing the air nozzle 5 to blow air towards the steel grating to reduce the probability of welding liquid splashing onto the protective mirror body 16. Cleaning stage: Control the pressing drive assembly 9 to drive the pressing ring 22 away from the mirror frame 7, and control the three-way valve to connect the gas source with the first intake annular groove 156. The gas is split into the first type of air holes 153 and the second type of air holes 155. The gas in the second type of air holes 155 is sprayed onto the protective mirror body 16 to clean the protective mirror body 16, and the gas in the first type of air holes 153 controls the rotation of the protective mirror body 16 through the blade 73, so that the protective mirror body 16 is cleaned in a rotating posture.

Claims

1. A weld identification device for a steel grating workpiece, the weld identification device is installed at the welding end of a welding robot (1), and is characterized in that, include: Laser (20); A protective mirror body (16), the protective mirror body (16) being located below the laser (20), the protective mirror body (16) being mounted in the central area of the annular frame (71), the protective mirror body (16) and the annular frame (71) being located within the protective mirror housing (14), and having circumferential freedom within the protective mirror housing (14), and a blade (73) being provided at the outer edge of the lower surface of the annular frame (71); An air nozzle (5), the air nozzle (5) being located below the protective mirror body (16) and used for blowing air downward to reduce the amount of soldering liquid approaching the protective mirror body (16); A nozzle housing (15) is provided, wherein the nozzle housing (15) is located between the air nozzle (5) and the protective mirror housing (14). The nozzle housing (15) has a first-class air hole (153) and a second-class air hole (155) arranged in a circular matrix along the axial direction. The diameter of the circular matrix formed by the second-class air hole (155) is smaller than the diameter of the circular matrix formed by the first-class air hole (153). The second-class air hole (155) is used to provide soot blowing gas to the protective mirror body (16), and the first-class air hole (153) is used to supply air to the blade (73), so that the protective mirror body (16) is cleaned by the soot blowing gas in a rotating posture.

2. The weld seam recognition device for a steel grating workpiece according to claim 1, characterized in that: The upper portion of the nozzle housing (15) is provided with an inner convex ring (157), and the upper portion of the inner convex ring (157) has an upper cone portion (158), the upper cone portion (158) is located below the annular frame (71), and the upper cone portion (158) is located inside the blade (73), and a slit (17) is provided between the upper cone portion (158) and the protective mirror body (16), so that the gas for driving the blade (73) to rotate can be sprayed from the outer periphery of the protective mirror body (16) in the form of a jet from the slit (17) in an inwardly radiating state onto the lower surface of the protective mirror body (16).

3. The weld identification device for a steel grating workpiece according to claim 2, characterized in that: A transverse groove (154) is provided at the upper end of the second type of air hole (155), and a slidable L-shaped nozzle (61) is provided in the transverse groove (154) along the radial direction of the nozzle housing (15), and the head of the L-shaped nozzle (61) is located in the middle of the nozzle housing (15) and opposite to the protective mirror body (16); A bellows (62) is provided in the second type of air hole (155), one end of the bellows (62) is fixed to the lower end of the second type of air hole (155), and the other end of the bellows (62) is fixed to the L-shaped nozzle (61); A displacement assembly (8) is provided in the nozzle housing (15) for converting the rotational motion of the annular frame (71) into a reciprocating motion of the L-shaped nozzle (61) along the radial direction of the nozzle housing (15).

4. The weld identification device for a steel grating workpiece according to claim 3, characterized in that: The displacement assembly (8) comprises: A movable cylinder (81), a lower portion of the protective mirror housing (14) is provided with a clearance ring groove (143), the movable cylinder (81) is located in the clearance ring groove (143), a lower end of the annular frame (71) is provided with a limit seat (74), a slider (84) is fixedly provided on one side of the limit seat (74), and an inner surface of the movable cylinder (81) is provided with a bidirectional spiral groove (85), and when the annular frame (71) rotates, the movable cylinder (81) can be driven to move axially through the slider (84) and the bidirectional spiral groove (85); The slope rod (83) is suspended in the area opposite to the L-shaped nozzle (61) by a suspension rod (82). There is a track on the slope rod (83), and the L-shaped nozzle (61) is limited within the track.

5. The weld seam recognition device for a steel grating workpiece according to claim 3, characterized in that: The displacement assembly (8) includes: A cam (88) provided on the circumferential periphery of the limit seat (74); A moving rod (87). A relief ring groove (143) is formed in the lower part of the protective mirror housing (14). The lower end of the moving rod (87) is fixed to the L-shaped nozzle (61), and a spring (86) is installed between the moving rod (87) and the inner wall of the relief ring groove (143).

6. A weld identification device for a steel grating workpiece according to any one of claims 1-5, characterized in that: The upper surface of the annular frame (71) has a first upper conical part (72). Above the inner part of the protective mirror housing (14), there is a pressure ring (22). The lower surface of the pressure ring (22) is provided with a notch adapted to the first upper conical part (72). A pressing drive assembly (9) for driving the lifting of the pressure ring (22) is also provided inside the protective mirror housing (14); When the pressure ring (22) is pressed down onto the first upper conical part (72), the protective mirror body (16) remains stable. When the pressure ring (22) moves upward away from the first upper conical part (72), the annular frame (71) can rotate freely.

7. The weld identification device for a steel grating workpiece according to claim 6, characterized in that: The pressing drive assembly (9) includes: A lead screw (94). Assembly grooves (142) are provided on both sides inside the protective mirror housing (14). A rotatable lead screw (94) is provided in the assembly grooves (142). The outer surface of the lead screw (94) is threadedly connected with a nut (95), and the nut (95) is fixedly connected to the pressure ring (22); A driven bevel gear (93) fixedly provided at the upper end of the nut (95), and a driving bevel gear (92) is engaged with one side of the driven bevel gear (93). A motor (91) for driving the rotation of the driving bevel gear (92) is provided on one side of the protective mirror housing (14); A gear (97) fixedly provided at the upper end of the lead screw (94); A toothed ring (96) concentric with the protective mirror housing (14) and engaged with both gears (97).

8. The weld seam recognition device for a steel grating workpiece according to claim 6, characterized in that: An air inlet ring groove one (156) is provided at the bottom of the nozzle housing (15). Both the first type of air holes (153) and the second type of air holes (155) are communicated with the air inlet ring groove one (156). An upper air inlet joint (18) communicated with the air inlet ring groove one (156) is provided on one side below the nozzle housing (15); The air nozzle (5) has a conical nozzle structure. An air inlet ring groove two (51) is formed in the upper part inside the air nozzle (5). A plurality of air outlet holes (52) are provided below the air inlet ring groove two (51). A lower air inlet joint (19) is provided on one side above the air nozzle (5); A three-way valve is connected between the air source, the upper air inlet joint (18) and the lower air inlet joint (19).

9. The weld identification device for a steel grating workpiece according to claim 1, characterized in that: Above the protective mirror body (16), a collimator (21) and a laser (20) are sequentially arranged from bottom to top. A receiving lens (10) and a detector (11) are provided on one side of the collimator (21).

10. A recognition method of a weld seam recognition device for a steel grating workpiece according to any one of claims 1-9, characterized in that, Including the following steps: Recognition stage: The robotic welding robot (1) controls the recognition device (4) to move, and uses the laser (20) to emit laser light. The laser beam is vertically incident on the surface of the steel grating after passing through the collimator (21) and the protective mirror body (16). The scattered light on the surface is imaged on the array of the detector (11) by the receiving lens (10), and a contour image of the object surface is generated. At the same time, the three-way valve connects the gas source with the second intake ring groove (51), so that the nozzle (5) blows air towards the steel grating to reduce the probability of welding liquid splashing onto the protective mirror body (16). Cleaning stage: Control the pressing drive assembly (9) to drive the pressure ring (22) away from the mirror frame (7), and control the three-way valve to connect the gas source with the first intake ring groove (156). The gas is split into the first type of air holes (153) and the second type of air holes (155). The gas in the second type of air holes (155) is sprayed onto the protective mirror body (16) to clean the protective mirror body (16). The gas in the first type of air holes (153) controls the rotation of the protective mirror body (16) through the blade (73), so that the protective mirror body (16) is cleaned in a rotating posture.

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