Multi-purpose welding head of robot and using method of multi-purpose welding head

Abstract

The invention discloses a robot multi-purpose welding head and a using method thereof.The robot multi-purpose welding head comprises a visual recognition part and a conversion part which are installed on a mechanical arm, an arc welding part and a spot welding part are installed on the conversion part, and the conversion part is used for switching two sets of welding working states. The welding guns can be quickly switched according to welding requirements, the complexity of switching the welding guns is avoided, and the production efficiency is improved; meanwhile, the visual recognition unit is introduced, the welding seam quality can be detected in real time, and welding uniformity is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding robots, and in particular relates to a multi-purpose welding head of a robot and a method of using the same. Background Art

[0002] A welding robot is an industrial robot used for welding. According to the International Organization for Standardization's standard definition of an industrial robot, it is a multi-purpose, reprogrammable, automatically controlled manipulator with three or more programmable axes, used in industrial automation. To accommodate diverse applications, the robot's final axis typically features a mechanical interface, typically a flange, that accepts various tools, or end effectors. A welding robot is designed to attach welding tongs or welding (cutting) guns to the final axis flange, enabling it to perform welding, cutting, or thermal spraying.

[0003] However, currently, industrial welding robots can generally only complete one type of welding at a time, such as arc welding, spot welding, cutting, etc. When the welding gun needs to be replaced, the entire supporting system needs to be changed, which is very time-consuming and labor-intensive, affecting production efficiency. Summary of the Invention

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is: A multi-purpose robotic welding head includes a robotic arm, a visual recognition unit mounted on the robotic arm, and a conversion unit, wherein the conversion unit is mounted with an arc welding unit and a spot welding unit, and the conversion unit is used to switch between two sets of welding working states; The visual recognition unit includes a connection base plate for fixedly connecting to the robotic arm and a visual processing unit arranged inside the connection base plate, and the visual processing unit is used to collect, process and analyze external image information; The conversion part includes a conversion seat fixed on the connecting seat plate and a first driving element installed on the conversion seat plate, and the output end of the driving element is connected to the conversion plate; The arc welding part includes an arc welding base plate fixed on the conversion plate, a slide rail and a second driving element provided on the arc welding base plate, an output end of the second driving element is fixedly connected to a fixed block sliding on the slide rail, and the fixed block is fixedly connected to the arc welding gun; The spot welding portion includes a spot welding base plate fixed on the conversion plate and a spot welding gun arranged on the spot welding base plate.

[0005] Furthermore, the first driving element is a motor, and when the motor rotates, it can drive the conversion plate to rotate.

[0006] Furthermore, the second driving element is a cylinder, and when the cylinder is started, it can drive the arc welding gun to move upward / downward on the slide rail.

[0007] Furthermore, the conversion plate is provided with at least two groups of avoidance holes for avoiding the visual processing unit, and the avoidance holes are centrally symmetrically arranged.

[0008] A method for using a multi-purpose robot welding head, characterized by comprising the following steps: S1): solder joint detection and identification; S2): Switch welding head; S3): welding; S4): End Furthermore, the step S1 is specifically divided into the following steps: S1-1): Collect real-time images of the welded area through the visual processing unit and send the terminal waiting command; S1-2): The operator determines the welding type through remote image information and marks the welding head parameter information, where arc welding is 00 and spot welding is 01; S1-3): The robotic arm obtains the welding head parameters through the information interaction and compares them with the previous welding head parameters; when the parameters are consistent, an instruction to not switch the welding head is issued; when the parameters are inconsistent, an instruction to switch the welding head is issued.

[0009] Furthermore, when step S1-3) issues an instruction not to switch the welding joint, step S2 is skipped and the welding process is directly performed in step S3.

[0010] Furthermore, the step S3 is specifically divided into the following steps: S3-1): Perform welding according to the set welding procedure; S3-2): Perform weld analysis through the visual processing unit; if the weld is poor, execute step 3-3; when the program ends, execute step 3-4; S3-3): Obtain defective weld sections, record files, and report them; S3-4): Exit welding program. Beneficial effects

[0011] The present invention uses a motor to drive the conversion plate to rotate, and two welding guns are installed on the rotating plate. The welding guns can be quickly switched according to welding needs, avoiding the tediousness of switching welding guns and improving production efficiency. At the same time, a visual recognition unit is introduced at the front end of the robot arm, which can detect the quality of the weld in real time and can be remotely controlled to ensure welding uniformity. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the spot welding structure; Figure 3 1 is a schematic diagram of the structure of the conversion unit; Figure 4 It is a schematic diagram of the arc welding part structure; Figure 5 It is a flowchart of the method of use; Description of reference numerals: 1. Robotic arm; 2. Identification unit; 21. Connecting seat plate; 22. Visual processing unit; 3. Conversion unit; 31. Conversion seat plate; 32. First driving element; 33. Conversion plate; 331. Air avoidance hole; 4. Arc welding unit; 41. Arc welding seat plate; 42. Slide rail; 43. Second driving element; 44. Fixed block; 45. Arc welding gun; 5. Spot welding unit; 51. Spot welding seat plate; 52. Spot welding gun. DETAILED DESCRIPTION

[0014] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention. Specific embodiments

[0015] like Figures 1 to 5 As shown, a multi-purpose robotic welding head includes a robotic arm 1, a visual recognition unit 2 and a conversion unit 3 mounted on the robotic arm 1, an arc welding unit 4 and a spot welding unit 5 mounted on the conversion unit 3, and the conversion unit 3 is used to switch between two sets of welding working states; The visual recognition unit 2 includes a connection base plate 21 for fixedly connecting to the robot arm 1 and a visual processing unit 22 provided inside the connection base plate 21, and the visual processing unit 22 is used to collect, process and analyze external image information; The conversion unit 3 includes a conversion base 31 fixed to the connecting base plate 21 and a first drive element 32 mounted on the conversion base plate 31. The output end of the drive element 32 is connected to the conversion plate 33. Specifically, the first drive element 32 is a motor. When the motor rotates, it can drive the conversion plate 33 to rotate. Specifically, the conversion plate 33 is provided with at least two sets of clearance holes 331 for clearing the visual processing unit 22. The clearance holes 331 are arranged symmetrically around the center.

[0016] The arc welding part 4 includes an arc welding base plate 41 fixed on the conversion plate 33, a slide rail 42 and a second driving element 43 arranged on the arc welding base plate 41, the output end of the second driving element 43 is fixedly connected to a fixed block 44 sliding on the slide rail 42, and the fixed block 44 is fixedly connected to an arc welding gun 45; specifically, the second driving element 43 is a cylinder, and when the cylinder is started, it can drive the arc welding gun 45 to move up / down on the slide rail 42.

[0017] The spot welding portion 5 includes a spot welding base plate 51 fixed on the conversion plate 33 and a spot welding gun 52 provided on the spot welding base plate 51 .

[0018] A method for using a multi-purpose robot welding head, characterized by comprising the following steps: S1): Solder point detection and identification; specifically, the step S1 is specifically divided into the following steps: S1-1): Collect real-time images of the welded area through the visual processing unit and send the terminal waiting command; S1-2): The operator determines the welding type through remote image information and marks the welding head parameter information, where arc welding is 00 and spot welding is 01; S1-3): The robotic arm obtains the welding head parameters through the information interaction and compares them with the previous welding head parameters; when the parameters are consistent, an instruction to not switch the welding head is issued; when the parameters are inconsistent, an instruction to switch the welding head is issued.

[0019] S2): Switch the welding head; specifically, when step S1-3) issues an instruction not to switch the welding joint, skip step S2 and directly enter step S3 to perform the welding procedure.

[0020] S3): welding; specifically, the step S3 is specifically divided into the following steps: S3-1): Perform welding according to the set welding procedure; S3-2): Perform weld analysis through the visual processing unit; if the weld is poor, execute step 3-3; when the program ends, execute step 3-4; S3-3): Obtain defective weld sections, record files, and report them; S3-4): Exit welding program S4): End The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-purpose robotic welding head, comprising a robotic arm (1), characterized in that: It also includes a visual recognition unit (2) and a conversion unit (3) mounted on the robotic arm (1); an arc welding unit (4) and a spot welding unit (5) are mounted on the conversion unit (3); and the conversion unit (3) is used to switch between two sets of welding working states. The visual recognition unit (2) comprises a connection base plate (21) for fixedly connecting to the robot arm (1) and a visual processing unit (22) arranged inside the connection base plate (21), wherein the visual processing unit (22) is used to collect, process and analyze external image information; The conversion portion (3) comprises a conversion seat (31) fixed on the connecting seat plate (21) and a first driving element (32) mounted on the conversion seat plate (31), wherein the output end of the driving element (32) is connected to the conversion plate (33); The arc welding portion (4) comprises an arc welding seat plate (41) fixed on the conversion plate (33), a slide rail (42) and a second driving element (43) provided on the arc welding seat plate (41), an output end of the second driving element (43) being fixedly connected to a fixed block (44) sliding on the slide rail (42), and the fixed block (44) being fixedly connected to an arc welding gun (45); The spot welding portion (5) comprises a spot welding seat plate (51) fixed on the conversion plate (33) and a spot welding gun (52) arranged on the spot welding seat plate (51).

2. The multi-purpose robot welding head according to claim 1, characterized in that: The first driving element (32) is a motor, and when the motor rotates, it can drive the conversion plate (33) to rotate.

3. The multi-purpose robot welding head according to claim 1, characterized in that: The second driving element (43) is a cylinder. When the cylinder is activated, it can drive the arc welding gun (45) to move upward / downward on the slide rail (42).

4. The multi-purpose robot welding head according to claim 1, characterized in that: The conversion plate (33) is provided with at least two groups of avoidance holes (331) for avoiding the visual processing unit (22), and the avoidance holes (331) are centrally symmetrically arranged.

5. A method for using the multi-purpose robotic welding head according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1): solder joint detection and identification; S2): Switch welding head; S3): welding; S4): End.

6. The method for using a multi-purpose robotic welding head according to claim 5, characterized in that: The step S1 is specifically divided into the following steps: S1-1): Collect real-time images of the welded area through the visual processing unit and send a terminal waiting command; S1-2): The operator determines the welding type through remote image information and marks the welding head parameter information, where arc welding is 00 and spot welding is 01; S1-3): The information exchange robot arm obtains the welding head parameters and compares them with the previous welding head parameters; when the parameters are consistent, a non-switching welding head instruction is issued; when the parameters are inconsistent, a switching welding head instruction is issued.

7. The method for using a multi-purpose robotic welding head according to claim 6, characterized in that: When step S1-3) issues an instruction not to switch the welding joint, step S2 is skipped and the welding process is directly performed in step S3.

8. The method for using a multi-purpose robotic welding head according to claim 5, characterized in that: The step S3 is specifically divided into the following steps: S3-1): Perform welding according to the set welding procedure; S3-2): Perform weld analysis through the visual processing unit; if the weld is defective, execute step 3-3; when the program ends, execute step 3-4; S3-3): Obtain defective weld sections, record files, and report them; S3-4): Exit welding program.

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