A weld identification device and identification method for a steel grating workpiece

Abstract

The present invention discloses a weld seam identification device and method for a steel grating workpiece, and relates to the field of welding technology. The weld seam identification device for the steel grating workpiece is installed at the welding end of a welding robot and comprises: a laser; a protective mirror body, the protective mirror body being located below the laser and installed in the central area of ​​an annular frame, the protective mirror body and the annular frame being located within a protective mirror housing and having circumferential freedom within the protective mirror housing, a blade being provided at the outer edge of the lower surface of the annular frame; and an air nozzle. The weld seam identification device and method for the steel grating workpiece are provided with an annular frame and a protective mirror body having circumferential freedom, and blades being provided below the annular frame. Gas in two types of air holes is sprayed onto the protective mirror body to clean the protective mirror body. Gas in one type of air hole controls the rotation of the protective mirror body through the blades, so that the protective mirror body is cleaned in a rotating posture, thereby increasing the cleaning area and ensuring the cleaning effect.

Description

Technical Field

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

[0002] Steel grating (also known as mesh grille) is a steel product made by crisscrossing flat steel bars with crossbars (twisted square steel, square steel, round steel, flat steel, etc.) at regular intervals and welded together to form a central square grid. It offers high strength, corrosion resistance, ventilation, and light transmission, and is widely used in construction, industry, transportation, and other fields, providing support, isolation, and protection. Welding is an essential step in the production of steel grating. Although automated welding technology in my country has significantly improved, traditional manual welding is still the primary method for complex structures and diverse specifications like steel grating. The main challenges facing manual welding in my country currently include the difficulty and high cost of recruiting skilled workers, as well as the low efficiency and inconsistent welding quality of novices. Therefore, automated welding of non-standard workpieces like steel grating remains a pressing need within the industry.

[0003] At present, in the field of automated welding in my country, welding operations are mainly carried out with the help of welding robots. The technical difficulty lies mainly in the automatic identification of welds and the planning of welding paths. There are two main methods: one is through manual teaching, which is to write customized teaching programs for different workpieces. The disadvantage of this method is that the teaching program is completely tailored to the workpiece. Once the specifications of the workpiece change, the teaching program needs to be modified or even rewritten. Therefore, it is usually only suitable for mass production of standardized workpieces. The other is to use a visual camera to shoot 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 lot of manual teaching work, but the disadvantage is that the recognition algorithm is difficult to implement for complex workpieces.

[0004] In the existing technology, 2D laser camera line scanning can be used to identify welds. However, in actual applications, due to the splashing of welding liquid, the welding liquid may stick to the laser or lens that emits light. The generally adopted cleaning method is to clean it after disassembly.

[0005] Chinese invention patent application CN118371864A proposes a weld seam identification and processing laser welding robot and its processing method, which uses a method of spraying air toward the lens to clean the welding liquid. Although this method can clean, the cleaning position is single and cannot be cleaned in all directions, which still affects imaging. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention provides a weld identification device and method for a steel grating workpiece, which solves the problem of cleaning the welding liquid by spraying air toward the lens. Although this method can clean, the cleaning position is single and cannot be cleaned in all directions, which still affects the imaging.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a weld seam identification device for a steel grating workpiece, the weld seam identification device being installed at the welding end of a welding robot, comprising:

[0008] Lasers;

[0009] A protective mirror body, the protective mirror body being located below the laser and mounted in the central area of ​​the annular frame. The protective mirror body and the annular frame are located within a protective mirror housing and have circumferential freedom within the protective mirror housing. Blades are provided at the outer edge of the lower surface of the annular frame.

[0010] An air nozzle is located below the protective mirror body and is used to blow air downward to reduce the amount of soldering liquid approaching the protective mirror body;

[0011] The nozzle shell is located between the air nozzle and the protective mirror shell. The nozzle shell has a first type of air hole and a second type of air hole arranged in a circular matrix along the axial direction. The diameter of the circular matrix formed by the second type of air hole is smaller than the diameter of the circular matrix formed by the first type of air hole. The second type of air hole is used to provide soot blowing gas to the protective mirror body, and the first type of air hole is used to supply air to the blades, so that the protective mirror body is cleaned by the soot blowing gas in a rotating posture.

[0012] Furthermore, the upper part of the nozzle shell is set as an inner convex ring, and the upper part of the inner convex ring has an upper cone part 2, the upper cone part 2 is located below the annular frame, and the upper cone part 2 is located inside the blade. A slit is provided between the upper cone part 2 and the protective mirror body, and the gas used to drive the blade to rotate can be sprayed from the outer periphery of the protective mirror body in the form of a jet and inwardly radiated onto the lower surface of the protective mirror body through the slit.

[0013] Furthermore, a transverse groove is provided at the upper end of the second type of air hole, and a slidable L-shaped nozzle is provided in the transverse groove along the radial direction of the nozzle shell, and the head of the L-shaped nozzle is located in the middle of the nozzle shell and opposite to the protective mirror body;

[0014] A bellows is provided in the second type of air hole, one end of the bellows is fixed to the lower end of the second type of air hole, and the other end of the bellows is fixed to the L-shaped nozzle;

[0015] A displacement assembly is provided in the nozzle housing for converting the rotational motion of the annular frame into a reciprocating motion of the L-shaped nozzle along the radial direction of the nozzle housing.

[0016] Furthermore, the displacement assembly includes:

[0017] A movable cylinder, wherein a clearance ring groove is provided at the lower portion of the protective mirror housing, and the movable cylinder is located in the clearance ring groove. A limit seat is provided at the lower end of the annular frame, and a slider is fixedly provided on one side of the limit seat. A bidirectional spiral groove is provided on the inner surface of the movable cylinder. When the annular frame rotates, the movable cylinder can be driven to move axially through the slider and the bidirectional spiral groove.

[0018] The slope rod is suspended by a suspension rod in an area opposite to the L-shaped nozzle. A track is provided on the slope rod, and the L-shaped nozzle is limited in the track.

[0019] Furthermore, the displacement assembly includes:

[0020] A cam, the cam being arranged on the periphery of the limiting seat;

[0021] A moving rod is provided with a clearance ring groove 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 clearance ring groove.

[0022] Furthermore, the upper surface of the annular frame has an upper cone portion 1, a pressure ring is provided on the upper part of the protective mirror housing, the lower surface of the pressure ring is provided with a notch adapted to the upper cone portion 1, and a compression drive assembly for driving the pressure ring to rise and fall is also provided in the protective mirror housing;

[0023] When the pressure ring is pressed down onto the upper cone, the protective mirror body is stable and immovable, and when the pressure ring is separated from the upper cone upward, the annular frame can rotate freely.

[0024] Furthermore, the compacting drive assembly includes:

[0025] Screw rod, assembly grooves are provided on both sides of the protective mirror housing, a rotatable screw rod is provided in the assembly groove, a nut is threadedly connected to the outer surface of the screw rod, and the nut is fixedly connected to the pressure ring;

[0026] A driven umbrella wheel, the driven umbrella wheel is fixed to the upper end of the nut, and one side of the driven umbrella wheel is engaged with the active umbrella wheel, and one side of the protective mirror housing is provided with a motor for driving the active umbrella wheel to rotate;

[0027] A gear, the gear being fixedly mounted on the upper end of the screw rod;

[0028] A gear ring is concentric with the protective mirror housing and meshes with both gears.

[0029] Furthermore, an air inlet ring groove 1 is provided at the bottom of the nozzle housing, and the first and second air holes are both connected to the air inlet ring groove 1. An upper air inlet joint connected to the air inlet ring groove 1 is provided on the lower side of the nozzle housing;

[0030] The air nozzle is a conical nozzle structure, with an air inlet ring groove 2 opened on the upper part of the air nozzle, multiple air outlet holes arranged below the air inlet ring groove 2, and a lower air inlet joint arranged on one side above the air nozzle;

[0031] The gas source, the upper gas inlet joint and the lower gas inlet joint are connected through a three-way valve.

[0032] Furthermore, a collimator and a laser are sequentially provided on the upper side of the protective mirror body from bottom to top, and a receiving lens and a detector are provided on one side of the collimator.

[0033] On the other hand, the present invention also provides a weld seam identification method for a steel grating workpiece, which is applicable to the weld seam identification device of the above-mentioned steel grating workpiece, comprising the following steps:

[0034] Identification stage: The robotic welding robot controls the movement of the identification device and uses the laser to emit the laser. The laser beam passes through the collimator and the protective mirror body and is vertically incident on the surface of the steel grating. The scattered light on the surface is then imaged on the detector array by the receiving lens and generates a contour image of the object surface. At the same time, the three-way valve connects the air source with the second air inlet ring groove, so that the air nozzle blows air toward the steel grating to reduce the probability of the welding liquid splashing onto the protective mirror body.

[0035] Cleaning stage: control the clamping drive assembly to drive the pressure ring to separate from the mirror frame, and control the three-way valve to connect the air source with the air inlet ring groove, and the gas is diverted to the first and second air holes. The gas in the second air holes is sprayed onto the protective mirror body to clean the protective mirror body. The gas in the first air hole controls the rotation of the protective mirror body through the blades, so that the protective mirror body is cleaned in a rotating posture.

[0036] The present invention has the following beneficial effects:

[0037] (1) The weld seam identification device and identification method of the steel grating workpiece are provided with an annular frame and a protective mirror body having circumferential freedom, and blades are provided below the annular frame. The gas in the two types of air holes is sprayed onto the protective mirror body to clean the protective mirror body. The gas in the one 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, thereby increasing the cleaning area and ensuring the cleaning effect.

[0038] (2) The weld seam identification device and identification method of the steel grating workpiece can convert the rotational motion of the annular frame into the reciprocating motion of the L-shaped nozzle in the second type of air hole through the displacement component, thereby increasing the cleaning sites and further enhancing the cleaning effect.

[0039] (3) The weld seam identification device and identification method of the steel grating workpiece are provided with a slit on the periphery of the protective mirror body, so that the airflow for driving the blades to rotate can pass through the slit and be sprayed inwardly from the periphery of the protective mirror body on the lower surface of the protective mirror body in the form of a jet. This can avoid the overflow of impurities affected by centrifugal force on the one hand, and can further clean the protective mirror body on the other hand. Compared with the method of blowing air from the bottom to the top on the protective mirror body alone, the horizontal blowing is more conducive to the impurities falling off from the protective mirror body.

[0040] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of the present invention assembled on a welding robot;

[0042] Figure 2 For the present invention Figure 1 A magnified view of area A;

[0043] Figure 3 This is a first perspective view of the present invention;

[0044] Figure 4 A second viewing angle diagram of the present invention;

[0045] Figure 5 This is a cross-sectional view of embodiment 1 of the present invention;

[0046] Figure 6 This is a diagram of the imaging principle of the present invention;

[0047] Figure 7 This is a schematic diagram of the internal structure of the protective mirror housing, nozzle housing, and air nozzle of the first embodiment of the present invention;

[0048] Figure 8 This is a bottom perspective view of the frame according to the first embodiment of the present invention;

[0049] Figure 9 Schematic diagram of the structure of the frame after being cut open according to the first embodiment of the present invention, wherein (a) is a view from the top, and (b) is a view from the bottom;

[0050] Figure 10 This is a schematic diagram of the internal structure of the protective mirror housing and the nozzle housing according to the first embodiment of the present invention;

[0051] Figure 11 For the present invention Figure 10 Magnified view of area C;

[0052] Figure 12 Schematic diagram of the internal structure of the nozzle housing according to the first embodiment of the present invention;

[0053] Figure 13 A perspective view of a type of air hole in a nozzle housing according to a first embodiment of the present invention;

[0054] Figure 14 A perspective view of a first type of air hole and a second type of air hole in a nozzle housing according to a first embodiment of the present invention;

[0055] Figure 15 An assembly diagram of the mirror frame and the displacement assembly according to the first embodiment of the present invention;

[0056] Figure 16 For the present invention Figure 15 Exploded view of

[0057] Figure 17 This is a schematic diagram of the internal structure of the protective mirror housing according to the first embodiment of the present invention;

[0058] Figure 18 For the present invention Figure 7 Magnified view of area B;

[0059] Figure 19 Schematic diagram of the structure of the displacement assembly in the second embodiment of the present invention;

[0060] Figure 20 Schematic diagram of the position of the cam in the second embodiment of the present invention.

[0061] In the figure, 1. welding robot; 2. welding gun; 3. following frame; 4. identification device; 5. gas nozzle; 51. air inlet ring groove 2; 52. air outlet; 61. L-shaped nozzle; 62. bellows; 7. mirror frame; 71. ring frame; 72. upper cone 1; 73. blade; 74. limit seat; 8. displacement assembly; 81. moving cylinder; 82. suspension rod; 83. slope rod; 84. slider; 85. bidirectional spiral groove; 86. spring; 87. moving rod; 88. cam; 9. pressing drive assembly; 91. motor; 92. active umbrella wheel; 93. driven umbrella wheel; 94. screw rod; 95. nut; 96. gear ring; 97 , gear; 10. Receiving lens; 11. Detector; 12. Laser housing; 121. Mounting head housing; 13. Collimator housing; 14. Protective mirror housing; 141. Motor cover; 142. Assembly groove; 143. Clearance ring groove; 15. Nozzle housing; 151. Clearance hole; 152. Clearance groove; 153. Type I air hole; 154. Horizontal groove; 155. Type II air hole; 156. Inlet ring groove one; 157. Inner convex ring; 158. Upper cone two; 16. Protective mirror body; 17. Slit; 18. Upper air inlet connector; 19. Lower air inlet connector; 20. Laser; 21. Collimator; 22. Pressure ring. DETAILED DESCRIPTION

[0062] The following is based on Figures 1-20The present invention describes a device and method for identifying welds of a steel grating workpiece provided in an embodiment of the present invention.

[0063] Example 1: Please refer to Figure 1 and Figure 2 The embodiment of the present invention provides a weld seam identification device for a steel grating workpiece. The weld seam identification device for a steel grating workpiece is Figure 1 and Figure 2 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 gun 2 at the welding end. The two can move together with the welding head of the welding robot 1. The identification device 4 can identify the weld.

[0064] Combine Figure 3-Figure 5 As shown, the weld identification device for the steel grating workpiece 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 integrated mounting head housing 121, the collimator 21 is assembled in the collimator housing 13, the laser housing 12, the collimator housing 13 and the protective mirror housing 14 are connected in sequence by bolts so that the above-mentioned multiple housings form an integral shell, and a receiving lens 10 and a detector 11 are also provided on one side of the collimator housing 13.

[0065] Reference Figure 6 For a better understanding, in this embodiment, the movement of 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 to the surface of the steel grating workpiece through the protective lens body 16. The scattered light on the surface of the steel grating workpiece passes through the protective lens and is imaged by the receiving lens 10 on the array of the detector 11, thereby generating a contour image of the object surface. Finally, all the collected image frames are synthesized into an overall 3D point cloud.

[0066] like Figure 7 In order to reduce the splashing impurities such as welding liquid generated by the welding robot 1 during welding and splashing 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 an air nozzle 5 is provided at the lower end of the nozzle housing 15, so that the nozzle housing 15 and the air nozzle 5 are both located below the protective mirror body 16. The air nozzle 5 is used for blowing air downward. The airflow can generate outward positive pressure on the splashing welding liquid or impurities, thereby reducing the welding liquid approaching the protective mirror body 16 and greatly reducing the probability of the protective mirror body 16 being blocked and unable to transmit light; when the protective mirror body 16 is blocked and the image is unclear, air is blown upward in the nozzle housing 15 to blow off the dust of the protective mirror body 16.

[0067] Combine Figure 5 and Figure 7 As shown, in order to achieve all-round cleaning of the protective mirror body 16, a mirror frame 7 is also provided in 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 circumferential freedom in the protective mirror housing 14. Blades 73 are provided at the outer edge of the lower surface of the annular frame 71. When the blades 73 are subjected to thrust, the annular frame 71 can be rotated, so that the protective mirror body 16 is cleaned by the soot blowing gas in a rotating posture.

[0068] like Figure 7-14 As shown, specifically, in order to achieve the force on the blade 73 and the reception of the cleaning gas by the protective mirror body 16, a first type of air hole 153 and a second type of air hole 155 are arranged in a circular matrix along the axial direction on the nozzle shell 15. The diameter of the circular matrix formed by the second type of air hole 155 is smaller than the diameter of the circular matrix formed by the first type of air hole 153, that is, the second type of air hole 155 is close to the inner periphery of the nozzle shell 15, and the first type of air hole 153 is close to the outer periphery of the nozzle shell 15. The second type of air hole 155 close to the inner periphery of the nozzle shell 15 is used to provide soot blowing gas to the protective mirror body 16, and the first type of air hole 153 close to the outer periphery of the nozzle shell 15 is used to supply air to the blade 73. When the first type of air hole 153 supplies air to the blade 73, the blade 73 is subjected to the action of positive air pressure and pushes 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 soot blowing gas in a rotating posture, thereby improving the uniformity of cleaning.

[0069] Reference Figures 9-11 As shown, when the protective mirror body 16 rotates, it will generate a centrifugal force on the impurities blown down from the protective mirror body 16 by the second type of air holes 155, resulting in some impurities being unable to escape from the outer shell downward. Therefore, the upper part of the nozzle outer shell 15 is set as an inner convex ring 157, and the upper part of the inner convex ring 157 has an upper cone part 158. The upper cone part 158 ​​is located below the annular frame 71, and the upper cone part 158 ​​is located inside the blade 73. A slit 17 is provided between the upper cone part 158 ​​and the protective mirror body 16.

[0070] In this embodiment, the airflow used to drive the blades 73 to rotate can pass through the slit 17 and be sprayed inwardly from the periphery of the protective mirror body 16 on the lower surface of the protective mirror body 16 in the form of a jet. This can avoid the overflow of impurities affected by centrifugal force on the one hand, and on the other hand, it can further clean the protective mirror body 16. Compared with the method of blowing air from the bottom to the top on the protective mirror body 16 alone, horizontal blowing is more conducive to impurities falling off the protective mirror body 16.

[0071] like Figure 14 and Figure 15As shown, in order to further improve the cleaning ability of the second-class air hole 155 on the protective mirror body 16, a transverse groove 154 is provided at the upper end of the second-class 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-class air hole 155, one end of the bellows 62 is fixed to the lower end of the second-class air hole 155, and the other end of the bellows 62 is fixed to the L-shaped nozzle 61; a displacement component 8 is provided in the nozzle housing 15, which is used to convert 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.

[0072] In this embodiment, when the annular frame 71 rotates, the displacement assembly 8 drives the L-shaped nozzle 61 to reciprocate radially along the nozzle housing 15, so that the nozzle of the L-shaped nozzle 61 can be aligned with different positions of the protective mirror body 16 for cleaning. The bellows 62 here is used to compensate for the displacement of the L-shaped nozzle 61.

[0073] Combine Figure 7 、 Figure 10 、 Figure 15 and Figure 16 As 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.

[0074] 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.

[0075] 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 .

[0076] 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.

[0077] 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.

[0078] Combine Figure 7 、 Figure 17 and Figure 18 As shown, specifically, the compression drive assembly 9 here includes a screw 94, a driven umbrella wheel 93, a gear 97 and a gear ring 96. Assembly grooves 142 are provided on both sides of the protective mirror housing 14. A rotatable screw 94 is provided in the assembly groove 142. The outer surface of the screw 94 is threadedly connected with a nut 95. The nut 95 is fixed to the pressure ring 22. The driven umbrella wheel 93 is fixed to the upper end of the nut 95, and the active umbrella wheel 92 is engaged with one side of the driven umbrella wheel 93. A motor 91 for driving the active umbrella wheel 92 to rotate is provided on one side of the protective mirror housing 14. The gear 97 is fixed to the upper end of the screw 94. The gear ring 96 is concentric with the protective mirror housing 14 and is engaged with both gears 97.

[0079] Preferably, a motor cover 141 for accommodating the motor 91 is provided on the protective mirror housing 14 .

[0080] In this embodiment, when the motor 91 is working, the active umbrella wheel 92 can drive the driven umbrella wheel 93 to rotate. When the driven umbrella wheel 93 rotates, the screw rod 94 on one side can rotate. Due to the action of the gear ring 96 and the gear 97, both screw rods 94 can rotate, and then the nut 95 moves up and down, driving the pressure ring 22 to move up or down.

[0081] Combine Figure 5 and Figure 7 As shown, in order to facilitate the air intake of the above-mentioned first-class air holes 153 and second-class air holes 155, an air intake ring groove 156 is provided at the bottom of the nozzle housing 15, and the first-class air holes 153 and second-class air holes 155 are both connected to the air intake ring groove 156. An upper air intake joint 18 connected to the air intake ring groove 156 is provided on the lower side of the nozzle housing 15. After the gas enters the upper air intake joint 18, it can be dispersed into the first-class air holes 153 and second-class air holes 155 through the air intake ring groove 156.

[0082] In addition, the air nozzle 5 has a conical nozzle structure, with an air inlet ring groove 2 51 provided on the upper part of the air nozzle 5, and multiple air outlet holes 52 provided below the air inlet ring groove 2 51. A lower air inlet joint 19 is provided on the upper side of the air nozzle 5. After passing through the lower air inlet joint 19, the gas can reach the air inlet ring groove 2 51 and be ejected through the air outlet holes 52, so that the gas is blown out from the lower end of the air nozzle 5.

[0083] Preferably, the air source, the upper air inlet connector 18 and the lower air inlet connector 19 are connected by a three-way valve, so that by adjusting the three-way valve, the air source can be connected to the upper air inlet connector 18 or the air source can be connected to the lower air inlet connector 19 to achieve the transition between the identification state and the cleaning state.

[0084] When in use (working), welding stage: the movement of 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 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 with the lower air inlet connector 19. After passing through the lower air inlet connector 19, the gas can reach the air inlet ring groove 2 51 and be ejected through the air outlet 52, so that the gas is blown out from the lower end of the gas nozzle 5, thereby reducing the probability of splashing welding liquid reaching the protective mirror body 16 from the gas nozzle 5.

[0085] Cleaning stage: the driving motor 91 works, and the active umbrella wheel 92 can drive the driven umbrella wheel 93 to rotate. When the driven umbrella wheel 93 rotates, the screw rod 94 on one side can rotate, and due to the action of the gear ring 96 and the gear 97, the two screw rods 94 can rotate, and then the upward nut 95 moves, driving the pressure ring 22 to move upward, so that the pressure ring 22 is upwardly separated from the upper cone 72, so that the annular frame 71 and the protective mirror body 16 have circumferential freedom, and at the same time control the three-way valve to connect the air source with the upper air inlet joint 18, and the gas enters the air inlet ring groove 156 and is dispersed into the first type of air hole 153 and the second type of air hole 155. The second type of air hole 155 close to the inner periphery of the nozzle shell 15 is used to provide soot blowing gas to the protective mirror body 16. The gas can enter the bellows 62 and from The L-shaped nozzle 61 sprays air to the lower surface of the protective mirror body 16 to blow soot off the lower surface; when a type of air hole 153 is used to supply air to the blade 73, the blade 73 is subjected to the positive air pressure and pushes 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 soot-blowing gas in a rotating posture, thereby improving the uniformity of cleaning; at the same time, when the annular frame 71 rotates, the limit seat 74 rotates together, and the slider 84 can move in the bidirectional spiral groove 85 when it rotates, and then drive the movable 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 realize reciprocating motion along its own axis, thereby achieving the effect of multi-position cleaning of the L-shaped nozzle 61.

[0086] Example 2: Reference Figure 19 and Figure 20 The difference between this embodiment and embodiment 1 is that the displacement assembly 8 includes a moving rod 87 and a cam 88. The cam 88 is arranged on the outer periphery of the limit seat 74. A clearance 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 on the L-shaped nozzle 61. A spring 86 is installed between the moving rod 87 and the inner wall of the clearance ring groove 143.

[0087] 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, so that the moving rod 87 can move radially along the protective mirror housing 14, so that the moving rod 87 can push and pull the L-shaped nozzle 61, realizing the reciprocating motion of the L-shaped nozzle 61.

[0088] On the other hand, the present invention also provides a method for identifying a weld of a steel grating workpiece, which is applicable to the weld identification device of the steel grating workpiece, and comprises the following steps:

[0089] Identification stage: The robotic welding robot 1 controls the movement of the identification device 4 and uses the laser 20 to emit laser light. The laser beam passes through the collimator 21 and the protective mirror body 16 and is vertically incident on the surface of the steel grating. The scattered light on the surface is then imaged by the receiving lens 10 on the array of the detector 11, and a contour image of the object surface is generated. At the same time, the three-way valve connects the air source with the second air inlet ring groove 51, so that the air nozzle 5 blows air toward the steel grating to reduce the probability of the welding liquid splashing onto the protective mirror body 16;

[0090] Cleaning stage: control the clamping drive assembly 9 to drive the pressure ring 22 to separate from the mirror frame 7, and control the three-way valve to connect the air source with the air inlet ring groove 156, and the gas is diverted to the first type of air hole 153 and the second type of air hole 155. The gas in the second type of air hole 155 is sprayed onto the protective mirror body 16 to clean the protective mirror body 16. The gas in the first type of air hole 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 seam identification device for a steel grating workpiece, the weld seam identification device being installed at the welding end of a welding robot (1), 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 identification 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 seam 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 seam identification device for a steel grating workpiece according to claim 3 is 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 an area opposite to the L-shaped nozzle (61) via a suspension rod (82). A track is provided on the slope rod (83), and the L-shaped nozzle (61) is confined within the track.

5. The weld seam identification device for a steel grating workpiece according to claim 3 is characterized in that: The displacement assembly (8) comprises: A cam (88), wherein the cam (88) is arranged on the periphery of the limiting seat (74); A movable rod (87) is provided with a clearance ring groove (143) at the lower portion of the protective mirror housing (14). The lower end of the movable rod (87) is fixed to the L-shaped nozzle (61), and a spring (86) is installed between the movable rod (87) and the inner wall of the clearance ring groove (143).

6. A weld seam identification device for a steel grating workpiece according to any one of claims 1 to 5, characterized in that: The upper surface of the annular frame (71) has an upper cone portion (72), a pressure ring (22) is provided on the upper portion of the protective mirror housing (14), a lower surface of the pressure ring (22) is provided with a notch adapted to the upper cone portion (72), and a compression drive assembly (9) for driving the pressure ring (22) to rise and fall is also provided in the protective mirror housing (14); When the pressure ring (22) is pressed down onto the upper cone part (72), the protective mirror body (16) is stable and immobile, and when the pressure ring (22) is separated from the upper cone part (72) upward, the annular frame (71) can rotate freely.

7. The weld seam identification device for a steel grating workpiece according to claim 6, characterized in that: The compacting drive assembly (9) comprises: A screw rod (94), assembly grooves (142) are provided on both sides of the protective mirror housing (14), a rotatable screw rod (94) is provided in the assembly groove (142), a nut (95) is threadedly connected to the outer surface of the screw rod (94), and the nut (95) is fixedly connected to the pressure ring (22); A driven umbrella wheel (93), the driven umbrella wheel (93) being fixed to the upper end of the nut (95), and a driving umbrella wheel (92) being engaged on one side of the driven umbrella wheel (93), and a motor (91) for driving the driving umbrella wheel (92) to rotate being provided on one side of the protective mirror housing (14); A gear (97), wherein the gear (97) is fixed to the upper end of the screw rod (94); A gear ring (96) is concentric with the protective mirror housing (14) and meshes with both gears (97).

8. The weld seam identification device for a steel grating workpiece according to claim 6, characterized in that: An air inlet annular groove (156) is provided at the bottom of the nozzle housing (15), and the first type of air holes (153) and the second type of air holes (155) are both connected to the air inlet annular groove (156). An upper air inlet joint (18) connected to the air inlet annular groove (156) is provided on a lower side of the nozzle housing (15); The air nozzle (5) is a conical nozzle structure, an air inlet ring groove (51) is provided on the upper portion of the air nozzle (5), a plurality of air outlet holes (52) are provided below the air inlet ring groove (51), and a lower air inlet joint (19) is provided on one side above the air nozzle (5); The gas source, the upper gas inlet connector (18) and the lower gas inlet connector (19) are connected via a three-way valve.

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

Images