Weld joint vision and laser tracking robot

Abstract

The invention relates to the technical field of welding equipment, in particular to a welding seam vision and laser tracking robot which comprises a sliding rail driving mechanism and an identification welding mechanism, and the sliding rail driving mechanism comprises a rail, an arc-shaped plate a, an arc-shaped plate b, a semi-gear ring, a sliding block, a motor a and a gear; the semi-gear ring is connected with the track; the slide block is slidably arranged on the inner side of the track; the motor a is arranged on the inner side of the sliding block and the output end is connected with the gear; the arc-shaped plate a and the arc-shaped plate b are both connected with the sliding block; the identification welding mechanism comprises a feeding assembly, a transverse moving part, a pipe body a, a welding gun, a telescopic component a, a laser sensor and a camera; the transverse moving part is slidably arranged on the arc-shaped plate a; the pipe body a is connected with the transverse moving part; a cover body is arranged on the tube body a; the telescopic part a is arranged on the cover body and is connected with the welding gun; the feeding assembly is connected with the transverse moving part, and the laser sensor and the camera are both arranged on the arc-shaped plate a. The all-directional automatic welding function of the pipeline welding seam is achieved, and the welding efficiency of the welding seam is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a welding seam vision and laser tracking robot. Background Art

[0002] Welding robots are a type of robot widely used in the field of industrial automation, mainly used to complete welding tasks efficiently and accurately.

[0003] Chinese patent publication number CN217596262U discloses a laser automatic tracking welding robot; by setting an angle adjustment mechanism, the angle of the welding gun can be adjusted left and right during use, making it easier for the welding gun to adapt to different types of welding workpieces, thereby improving the welding quality of the weld and making the welded weld stronger.

[0004] However, the above-mentioned prior art has the following defects: the angle adjustment range of the welding gun is limited, and during welding, the workpiece needs to be placed on the welding table. During the welding process, it is impossible to identify and weld the welds on various parts of the workpiece (for example, the contact part between the workpiece and the welding table cannot be identified and welded). Therefore, the above-mentioned prior art cannot achieve full-dimensional identification and welding of the welds on the surface of the pipeline. Summary of the Invention

[0005] The purpose of the present invention is to address the problems existing in the background technology and propose a welding seam vision and laser tracking robot.

[0006] The technical solution of the present invention is a welding seam vision and laser tracking robot, comprising a robot body and further comprising:

[0007] The slide rail drive mechanism includes a track, an arc-shaped plate a, an arc-shaped plate b, a guide wheel assembly, a half-toothed ring, a slider, a motor a, and a gear; the track is provided with two tracks and spliced ​​together to form a complete ring structure; the half-toothed ring is connected to the track; the slider is slidably arranged on the inner side of the track; a through slot is provided on the track; the motor a is arranged on the inner side of the slider and its output end passes through the through slot and is connected to the gear; the gear is meshed with the toothed ring; a plurality of guide wheel assemblies are provided and distributed circumferentially on the track; the arc-shaped plate a and the arc-shaped plate b are both connected to the slider;

[0008] An identification welding mechanism includes a feeding assembly, a transverse movement portion, a tube body a, a welding gun, a telescopic component a, a laser sensor, and a camera; an opening is provided on the arc-shaped plate a; the transverse movement portion is arranged inside the opening; the tube body a is connected to the transverse movement portion; a cover body is detachably connected to the tube body a; the telescopic component a is arranged on the cover body and connected to the welding gun; the feeding assembly is connected to the transverse movement portion for feeding a tungsten electrode rod; the laser sensor and the camera are both arranged on the arc-shaped plate a.

[0009] Preferably, the guide wheel assembly includes a mounting block, a telescopic component b and a guide wheel; the mounting block is arranged on the track; the telescopic component b is arranged on the mounting block; and the telescopic component b is connected to the guide wheel.

[0010] Preferably, an L-shaped plate is connected between the half gear ring and the track to ensure the integrity of the track; a connecting arm is provided on the robot body; and the connecting arm is detachably connected to the L-shaped plate.

[0011] Preferably, the L-shaped plates on the rails on both sides are respectively connected with a docking rod and a docking tube; the docking rod and the docking tube are plugged in and used to play a positioning and guiding role in the mutual splicing of the rails.

[0012] Preferably, a magnetic part is provided inside the moving wheel of the robot body to ensure that the robot body moves stably on the pipe.

[0013] Preferably, a movable groove is provided on the inner wall of the opening; the transverse movement part includes a motor b, a ball screw and a carrier block; the ball screw is rotated inside the movable groove; the motor b is arranged on the arc plate a and its output end is connected to the ball screw; a nut block is connected to the carrier block and is slidably connected to the movable groove; the ball screw is threadedly connected to the nut block.

[0014] Preferably, the feeding assembly includes a tube body b, a rubber wheel, a U-shaped block and a motor c; an extrusion port is opened on the tube body b and a tungsten pole rod is arranged inside the tube body b; the U-shaped block is arranged on the carrier block; the rubber wheel rotates inside the U-shaped block and squeezes the tungsten pole rod through the extrusion port; the motor c is arranged on the U-shaped block and its output end is connected to the rubber wheel.

[0015] Preferably, a mounting groove is provided inside the slider; the motor a is provided inside the mounting groove; a sealing plate is detachably connected to the bottom of the mounting groove; and heat dissipation holes are provided on the sealing plate.

[0016] Compared with the prior art, the above technical solution of the present invention has the following beneficial technical effects:

[0017] By providing a slide rail drive mechanism and an identification welding mechanism, the rail is spliced ​​on the pipeline, and the robot body is used to drive the rail to move on the pipeline surface. At the same time, the laser sensor is used in conjunction with the camera to move in a circle on the pipeline surface, and the position and trajectory of the weld on the pipeline surface are identified without blind spots. The transverse part is used in conjunction with motor a, so that the welding head can move along the weld trajectory, realizing the full-range automatic welding function of the pipeline weld and significantly improving the welding efficiency of the weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A perspective view of an embodiment of the present invention;

[0019] Figure 2 This is a schematic structural diagram of an embodiment of the present invention when the tracks are separated from each other;

[0020] Figure 3 for Figure 2 A in the middle is an enlarged structural diagram;

[0021] Figure 4 This is a schematic diagram of the connection structure between the transverse moving part and the carrier block when the tube body a is separated from the cover body in an embodiment of the present invention;

[0022] Figure 5 This is a structural diagram of an embodiment of the present invention when the curved plate a is separated from the track;

[0023] Figure 6 This is a structural diagram of an embodiment of the present invention when the slider is separated from the motor a;

[0024] Figure 7 This is a schematic cross-sectional structural diagram of a feeding assembly in an embodiment of the present invention.

[0025] Figure numerals: 1. track; 2. arc plate a; 3. arc plate b; 4. tube body a; 5. telescopic part a; 6. gear; 7. half-gear ring; 8. telescopic part b; 9. guide wheel; 10. robot body; 11. connecting arm; 12. L-shaped plate; 13. mounting block; 14. docking tube; 15. docking rod; 16. cover body; 17. welding gun; 18. motor b; 19. carrier block; 20. tube body b; 21. ball screw; 22. motor a; 23. motor c; 24. rubber wheel; 25. laser sensor; 26. camera; 27. slider. DETAILED DESCRIPTION

[0026] Example 1, as Figure 1-3 as well as Figure 5-7 As shown, the present invention proposes a welding seam vision and laser tracking robot, which includes a robot body, a slide rail driving mechanism and a welding identification mechanism;

[0027] The slide rail drive mechanism includes a track 1, an arc plate a2, an arc plate b3, a guide wheel assembly, a half-toothed ring 7, a slider 27, a motor a22 and a gear 6; the track 1 is provided with two and they are spliced ​​together to form a complete annular structure, the two tracks 1 are clamped on the pipe and spliced ​​together to form an annular structure; the half-toothed ring 7 is connected to the track 1; the slider 27 is slidably arranged on the inner side of the track 1; a through groove is provided on the track 1, and an L-shaped plate 12 is connected between the half-toothed ring 7 and the track 1 to ensure the integrity of the track 1; the L-shaped plates 12 on the tracks 1 on both sides are respectively connected to the docking rods 15 and the docking tubes 14; the docking rods 15 and the docking tubes 14 are plugged in and arranged to play a positioning and guiding role in the mutual splicing between the tracks 1; a connecting arm 11 is provided on the robot body 10; the connecting arm 11 and the L-shaped plate 12 are detachably connected Next, the moving wheel of the robot body 10 is provided with a magnetic part, which includes but is not limited to a magnet block, and is used to ensure that the robot body 10 moves stably on the pipe (using the magnetic attraction between the magnet block and the pipe to make the robot body 10 magnetically attracted to the pipe surface). The movement of the robot body 10 on the pipe can push the track 1 to move on the pipe, which is convenient for comprehensive inspection and identification of the welds on the pipe; the motor a22 is provided on the inner side of the slider 27 and its output end is connected to the gear 6 through the through slot; the gear 6 is meshed with the gear ring; the slider 27 has a mounting groove inside; the motor a22 is provided on the inner side of the mounting groove; the bottom of the mounting groove is detachably connected to a sealing plate; the sealing plate is provided with a heat dissipation hole, and the setting of the sealing plate facilitates the disassembly and assembly of the motor a22, and the heat dissipation hole facilitates the heat dissipation of the motor a22. There are multiple guide wheel assemblies distributed circumferentially on the track 1. The circumferentially distributed guide wheel assemblies work synchronously and can position the pipe at the axis inside the track 1, which is convenient for identifying the welds on the pipe surface; the arc plate a2 and the arc plate b3 are both connected to the slider 27;

[0028] The identification welding mechanism includes a feeding assembly, a transverse moving part, a tube body a4, a welding gun 17, a telescopic part a5, a laser sensor 25 and a camera 26; an opening is provided on the arc plate a2; the transverse moving part is provided inside the opening; the tube body a4 is connected to the transverse moving part; a cover body 16 is detachably connected to the tube body a4, and the detachable connection includes but is not limited to a threaded connection; the telescopic part a5 is provided on the cover body 16 and connected to the welding gun 17 (a hole is provided on the tube body a4 to facilitate heat dissipation of the welding gun 17 and facilitate the welding gun 17 to be connected to the outside The welding gun 17 is an argon arc welding gun; the feeding assembly is connected to the transverse movement part and is used to feed the tungsten pole rod. The feeding assembly includes a tube b20, a rubber wheel 24, a U-shaped block and a motor c23; an extrusion port is provided on the tube b20 and a tungsten pole rod is provided inside the tube b20; the U-shaped block is provided on the carrier block 19; the rubber wheel 24 rotates in the U-shaped block and passes through the extrusion port to extrude the tungsten pole rod; the motor c23 is provided on the U-shaped block and its output end is connected to the rubber wheel 24; the laser sensor 25 and the camera 26 are both provided on the arc plate a2.

[0029] In this embodiment, the robot body 10 moves intermittently on the pipeline, and the distance the robot body 10 moves each time is the width of the arc plate a2; when the robot body 10 stops moving, the motor a22 drives the gear 6 to rotate, and under the action of the half gear ring 7, the gear 6 drives the slider 27 to perform a circular motion on the inner side of the track 1, and the slider 27 drives the arc plates a2 and b3 to rotate, thereby driving the camera 26 and the laser sensor 25 to perform a circular motion. The laser sensor 25 can project laser stripes onto the weld surface and generate high-precision 3D contour data based on the deformation of the stripes to recognize the width, depth and irregular geometric shape of the weld. The camera 26 assists in identifying the characteristics of the weld surface that are difficult to capture by laser, such as oxidation, discoloration, and spatter, and reports them to the control unit inside the robot body 10. Feed signal, when camera 26 and laser sensor 25 rotate around the pipe and return to the initial position, at this time, the position, trajectory and other information of the weld on the circumferential surface of the pipe are identified; then the control unit controls motor a22 to drive arc plate a2 and arc plate b3 to perform circular motion again based on this information, so that the welding head moves to the weld, and then controls telescopic component a5 to work so that the welding head approaches the weld, and at the same time motor c23 drives rubber wheel 24 to rotate, and uses the friction between rubber wheel 24 and tungsten pole rod to drive tungsten pole rod to move inside pipe body b20 and approach the welding head. According to the path of the weld, the control unit controls the transverse movement part and motor a22 to work, so that the welding head can move along the weld trajectory when it moves to the weld, thereby realizing the precise welding function of the weld.

[0030] It is worth noting that gear 6 is a high-precision gear 6 and half-gear ring 7 is a high-precision gear ring. By controlling the rotation speed of motor a22, gear 6 can slowly roll along half-gear ring 7, thereby facilitating the control of the moving speed of the welding head along the weld.

[0031] Example 2, as Figure 1-2 As shown, the present invention proposes a welding seam vision and laser tracking robot. Compared with the first embodiment, this embodiment also introduces the structure of the guide assembly in detail. The guide wheel assembly includes a mounting block 13, a telescopic component b8 and a guide wheel 9; the mounting block 13 is arranged on the track 1; the telescopic component b8 is arranged on the mounting block 13; the telescopic component b8 is connected to the guide wheel 9.

[0032] In this embodiment, by opening the telescopic component b8, controlling the extension distance of the telescopic component b8, and then controlling the moving distance of the guide wheel 9, under the action of the circumferentially distributed telescopic components b8, the guide wheels 9 at each location position the pipeline at the axis inside the track 1, so that when the welding head moves in a circle, its distance from the pipeline surface is always the same, which facilitates the welding head to weld the welds at various locations on the pipeline surface.

[0033] Example 3, as Figure 4As shown, the present invention proposes a welding seam vision and laser tracking robot. Compared with the second embodiment, this embodiment also introduces the structure of the transverse movement part in detail, and the inner wall of the opening is provided with a movable groove; the transverse movement part includes a motor b18, a ball screw 21 and a carrier block 19; the ball screw 21 is rotatably arranged inside the movable groove; the motor b18 is arranged on the arc plate a2 and its output end is connected to the ball screw 21; a nut block is connected to the carrier block 19 for sliding connection with the movable groove; the ball screw 21 is threadedly connected to the nut block.

[0034] In this embodiment, the motor b18 is used to drive the ball screw 21 to rotate, driving the nut block to move inside the movable groove, and then driving the carrier block 19 to drive the welding head to move horizontally. When the motor a22 drives the arc plate a2 to move slowly in a circular motion, the function of the welding head moving along the weld trajectory is realized.

[0035] To sum up, when the present invention is used, the two side rails 1 are clamped on the pipeline, and the docking tube 14 is plugged into the docking rod 15 to realize the splicing function of the two side rails 1, and then the telescopic component b8 is turned on to control the extension distance of the telescopic component b8, thereby controlling the moving distance of the guide wheel 9. Under the action of the circumferentially distributed telescopic components b8, the guide wheels 9 at each location position the pipeline at the axis inside the rail 1, so that when the welding head moves in a circular motion, its distance from the pipeline surface is always the same, which facilitates the welding head to weld the welds at various locations on the pipeline surface; then the robot body 10 is placed on the pipeline, and the magnetic parts provided inside the moving wheel are used to make the moving wheel on the robot body 10 magnetically attracted to the pipeline, ensuring that the robot body 10 moves stably on the pipeline, thereby promoting the stable movement of the rail 1 on the pipeline.

[0036] When performing welding operations, the robot body 10 is turned on and controlled to move intermittently on the pipeline. The distance the robot body 10 moves each time is the width of the arc plate a2. When the robot body 10 stops moving, the motor a22 drives the gear 6 to rotate. Under the action of the half gear ring 7, the gear 6 drives the slider 27 to perform a circular motion on the inner side of the track 1. The slider 27 drives the arc plates a2 and b3 to rotate, thereby driving the camera 26 and the laser sensor 25 to perform a circular motion. The laser sensor 25 can project laser stripes onto the weld surface and generate high-precision 3D contour data based on the deformation of the stripes to identify the width, depth and irregular geometric shape of the weld. The camera 26 assists in identifying the features of the weld surface that are difficult to capture by laser, such as oxidation, discoloration, and spatter, and feeds back signals to the control unit inside the robot body 10. When the camera 26 and the laser sensor 25 rotate around the pipeline and return to the initial position, the weld on the circumferential surface of the pipeline is completed. Identification of position, trajectory and other information; then the control unit controls the motor a22 to drive the arc plate a2 and the arc plate b3 to perform circular motion again based on this information, so that the welding head moves to the weld, and then controls the telescopic component a5 to work, so that the welding head is close to the weld, and at the same time the motor c23 drives the rubber wheel 24 to rotate, and uses the friction between the rubber wheel 24 and the tungsten pole rod to drive the tungsten pole rod to move inside the tube body b20 and close to the welding head. According to the path of the weld, the control unit will use the motor b18 to drive the ball screw 21 to rotate, drive the nut block to move inside the moving groove, and then drive the carrier block 19 to drive the welding head to move laterally. When the motor a22 drives the arc plate a2 to move slowly in a circular motion, the function of the welding head moving along the weld trajectory is realized (gear 6 is a high-precision gear 6, and the half-toothed ring 7 is a high-precision geared ring. By controlling the speed of the motor a22, the gear 6 can be slowly rolled along the half-toothed ring 7, thereby facilitating the control of the welding head's travel speed along the weld).

[0037] After all the welds on the circumferential surface of the pipeline are welded, the motor a22 is controlled to work so that the arc plate a2 and the arc plate b3 drive the welding head, the laser sensor 25 and the camera 26 to return to the initial position; then the robot body 10 is controlled to continue to move on the pipeline and push the track 1 to move to the next part of the pipeline. Repeating the above operation can realize the recognition and welding function of the weld at the next inspection position of the pipeline, so that the automatic recognition and welding function of all welds on the pipeline can be realized.

[0038] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A welding seam vision and laser tracking robot, comprising a robot body (10), characterized in that: Also includes: A slide rail drive mechanism comprises a track (1), an arc plate a (2), an arc plate b (3), a guide wheel assembly, a half-toothed ring (7), a slider (27), a motor a (22) and a gear (6); the track (1) is provided with two and spliced ​​to form a complete annular structure; the half-toothed ring (7) is connected to the track (1); the slider (27) is slidably arranged on the inner side of the track (1); a through slot is provided on the track (1); the motor a (22) is arranged on the inner side of the slider (27) and its output end passes through the through slot and is connected to the gear (6); the gear (6) is meshed with the toothed ring; a plurality of guide wheel assemblies are provided and circumferentially distributed on the track (1); the arc plate a (2) and the arc plate b (3) are both connected to the slider (27); An identification welding mechanism comprises a feeding assembly, a transverse movement portion, a tube body a (4), a welding gun (17), a telescopic component a (5), a laser sensor (25) and a camera (26); an opening is provided on the arc plate a (2); the transverse movement portion is arranged inside the opening; the tube body a (4) is connected to the transverse movement portion; a cover body (16) is detachably connected to the tube body a (4); the telescopic component a (5) is arranged on the cover body (16) and connected to the welding gun (17); the feeding assembly is connected to the transverse movement portion for feeding a tungsten electrode rod; the laser sensor (25) and the camera (26) are both arranged on the arc plate a (2).

2. A welding seam vision and laser tracking robot according to claim 1, characterized in that: The guide wheel assembly comprises a mounting block (13), a telescopic component b (8) and a guide wheel (9); the mounting block (13) is arranged on the track (1); the telescopic component b (8) is arranged on the mounting block (13); and the telescopic component b (8) is connected to the guide wheel (9).

3. A welding seam vision and laser tracking robot according to claim 1, characterized in that: An L-shaped plate (12) is connected between the half gear ring (7) and the track (1) to ensure the integrity of the track (1); a connecting arm (11) is provided on the robot body (10); and the connecting arm (11) and the L-shaped plate (12) are detachably connected.

4. A welding seam vision and laser tracking robot according to claim 1, characterized in that: The L-shaped plates (12) on the two side rails (1) are respectively connected with a docking rod (15) and a docking tube (14); the docking rod (15) and the docking tube (14) are plugged together to play a positioning and guiding role in the mutual splicing of the rails (1).

5. The welding seam vision and laser tracking robot according to claim 1, characterized in that: A magnetic part is provided inside the moving wheel of the robot body (10) to ensure that the robot body (10) moves stably on the pipe.

6. A welding seam vision and laser tracking robot according to claim 1, characterized in that: The inner wall of the opening is provided with a moving groove; the transverse moving part comprises a motor b (18), a ball screw (21) and a carrier block (19); the ball screw (21) is rotatably arranged inside the moving groove; the motor b (18) is arranged on the arc plate a (2) and its output end is connected to the ball screw (21); a nut block slidably connected to the moving groove is connected to the carrier block (19); the ball screw (21) is threadedly connected to the nut block.

7. The welding seam vision and laser tracking robot according to claim 1, characterized in that: The feeding assembly comprises a tube body b (20), a rubber wheel (24), a U-shaped block and a motor c (23); an extrusion port is provided on the tube body b (20) and a tungsten pole rod is provided inside the tube body b (20); the U-shaped block is arranged on a carrier block (19); the rubber wheel (24) rotates in the U-shaped block and passes through the extrusion port to extrude the tungsten pole rod; the motor c (23) is arranged on the U-shaped block and an output end thereof is connected to the rubber wheel (24).

8. The welding seam vision and laser tracking robot according to claim 1, characterized in that: The slider (27) is provided with a mounting groove inside; the motor a (22) is provided inside the mounting groove; a sealing plate is detachably connected to the bottom of the mounting groove; and heat dissipation holes are provided on the sealing plate.

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