Intelligent welding system based on machine vision surface detection

Abstract

The invention relates to the technical field of laser welding, in particular to an intelligent welding system based on machine vision surface detection, and solves the problems that when laser welding is carried out, clamps of different shapes need to be used according to the shape of a welding part, the clamps of pipe fittings and plate fittings are not universal, time is needed for replacement, and the welding process is affected. An intelligent welding system based on machine vision surface detection comprises a base, a control module, an energy module and a processing module, a moving seat is slidably mounted on the upper surface of the base, two rotating bases are arranged on the upper surface of the moving seat, and fixing seats are fixed to the top ends of the rotating bases. The movable end of the electric telescopic rod is converted to drive the adjusting sliding pin to linearly move, so that the adjusting rotating rod rotates, meanwhile, the adjusting rotating rod changes the state of the plate clamping plate, the state of the clamp is changed, and therefore a pipe or a plate is clamped.

Description

Technical Field

[0001] This invention relates to the field of laser welding technology, specifically to an intelligent welding system based on machine vision surface inspection. Background Technology

[0002] Welding, also known as fusion welding, is a manufacturing process and technology that joins metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure. There are many energy sources for welding, including gas flame, electric arc, laser, electron beam, friction and ultrasound.

[0003] Laser welding is a highly efficient and precise welding method that uses a high-energy-density laser beam as a heat source. The laser radiation heats the surface of the workpiece, and the surface heat diffuses into the interior through heat conduction. By controlling parameters such as the width, energy, peak power, and repetition frequency of the laser pulse, the workpiece is melted to form a specific molten pool.

[0004] However, when performing laser welding, different shaped fixtures are required depending on the shape of the parts to be welded. The fixtures for pipes and plates are not interchangeable, and replacement takes time, which affects the welding process. Therefore, this does not meet the existing requirements. To address this, we propose an intelligent welding system based on machine vision surface inspection. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent welding system based on machine vision surface inspection, in order to solve the problem mentioned in the background art that when performing laser welding, different shaped clamps are required according to the shape of the welding parts, the clamps for pipes and plates are not interchangeable, and replacement takes time, thus affecting the welding process.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent welding system based on machine vision surface detection, comprising a base, a control module, an energy module and a processing module. A movable seat is slidably mounted on the upper surface of the base, and two rotating bases are provided on the upper surface of the movable seat. A fixed seat is fixed at the top of the rotating base, and the fixed seat is L-shaped and has two symmetrically positioned conversion clamps fixed on the inner side of the top.

[0007] The conversion clamp includes a fixed plate. Two symmetrical pipe clamping plates are rotatably mounted on the end of the fixed plate away from the fixed seat. The inner side of the end of the pipe clamping plate away from the fixed plate is provided with a mounting groove. The outer side of the end of the adjusting rotating rod connected to the fixed plate is provided with a slot. Adjusting electric telescopic rods are fixed on both the upper and lower surfaces of the fixed plate. The movable end of the adjusting electric telescopic rod is slidably engaged in the inner side of the slot. The plate clamping plate and the adjusting rotating rod are rotatably mounted on the inner side of the mounting groove. A connecting groove is provided on the inner side of one end of the plate clamping plate. One end of the adjusting rotating rod is located inside the connecting groove. Adjusting slide grooves are provided on both sides of the other end of the adjusting rotating rod. A conversion electric telescopic rod is fixed on the outer surface of the pipe clamping plate. The movable end of the conversion electric telescopic rod is located inside the adjusting slide groove. An adjusting sliding pin is inserted through the movable end of the conversion electric telescopic rod. The end of the adjusting sliding pin is slidably located inside the adjusting slide groove, and the end face of the adjusting sliding pin is flush with the side of the adjusting rotating rod.

[0008] Preferably, the end of the adjusting rotating rod located inside the connecting groove is inserted with a rotating connecting pin, and both inner walls of the connecting groove are provided with connecting sliding grooves, and the end of the rotating connecting pin is slidably engaged inside the connecting sliding groove.

[0009] Preferably, the surfaces of the two pipe clamping plates that are connected to the fixing plate and facing each other are provided with storage grooves, and a plurality of elastic support plates are fixed between the two pipe clamping plates, with the elastic support plates located inside the two storage grooves.

[0010] Preferably, the two ends of the elastic support sheet are perpendicular to the pipe clamping plate, and the middle part of the elastic support sheet is V-shaped.

[0011] Preferably, the top of the base is provided with a visual recognition component and a laser welding component, and the positions of the visual recognition component and the laser welding component are symmetrical.

[0012] Preferably, the visual recognition component includes a displacement electric telescopic rod, which is fixedly connected to the base and has a movable block fixed at its movable end. A rotating arc plate is slidably installed on the inner side of the other end of the movable block. Visual recognition cameras are fixed on the inner sides of both ends of the rotating arc plate, and the axes of the two visual recognition cameras coincide.

[0013] Preferably, a motor mounting bracket is fixed to one side of the movable block, a rotating motor is fixed to the inner side of the motor mounting bracket, the output shaft end of the rotating motor extends through the movable block to the inner side of the movable block, and an adjusting gear is fixed to the output shaft end of the rotating motor. A transmission rack is fixed to the outer surface of the rotating arc plate, and the transmission rack meshes with the adjusting gear.

[0014] Preferably, both sides of the rotating arc plate are provided with arc-shaped guide grooves, and a guide support arc plate is engaged with the inner side of the arc-shaped guide groove, and the guide support arc plate is fixed to the moving block.

[0015] Preferably, the movable seat has an adjusting screw and two symmetrically positioned guide support rods inserted through it. The movable seat and the adjusting screw are driven by a thread. The ends of the guide support rods are fixed to the base. The two ends of the adjusting screw are rotatably inserted into the base and rotatably connected to the base through roller bearings. One end of the adjusting screw is connected to a displacement motor. The bottom of the base is provided with a venting groove, which is located below the displacement motor.

[0016] Preferably, the rotating base is equipped with a rotating motor inside, the bottom end of the rotating motor is fixed to the movable seat, the bottom end of the rotating base is in rotatable contact with the movable seat, the output shaft of the rotating motor is vertically upward and fixed to the rotating base, and the top outer surface of the rotating base has a ring array of heat dissipation holes penetrating the rotating base.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. This invention uses the movable end of the electric telescopic rod to drive the adjusting sliding pin to move linearly, thereby causing the adjusting rotating rod to rotate. At the same time, the adjusting rotating rod changes the state of the plate clamping plate. When the plate clamping plate is vertical, the pipe is clamped by two pipe clamping plates. When the plate clamping plate is horizontal, the plate is clamped by adjacent plate clamping plates, thereby achieving the fixation of pipes or plates by one clamp, saving the time required to change clamps and improving the efficiency of laser welding operations.

[0019] 2. This invention uses two visual recognition cameras on the inner sides of both ends of a rotating arc plate to visually scan the welded parts from above and below. When scanning tubular welded parts, a rotating motor, adjusting gear, and transmission rack drive the rotating arc plate to make reciprocating circular motion inside the moving block to perform a full-range visual scan of the tubular welded parts, thus achieving visual scanning of both plate-shaped and tubular welded parts and avoiding any missed areas. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the visual recognition component of the present invention;

[0022] Figure 3 for Figure 2 Enlarged view of the structure at point A in the middle;

[0023] Figure 4 This is a schematic diagram of the conversion fixture of the present invention;

[0024] Figure 5 This is a schematic diagram illustrating the shape transformation of the conversion fixture of the present invention;

[0025] Figure 6This is a structural cross-sectional view of the fixing plate and pipe clamping plate of the present invention;

[0026] Figure 7 for Figure 6 Enlarged view of the structure at point B in the middle.

[0027] In the diagram: 1. Base; 2. Movable seat; 3. Adjusting screw; 4. Guide support rod; 5. Rotating base; 6. Conversion clamp; 601. Fixed plate; 602. Adjusting electric telescopic rod; 603. Pipe clamping plate; 604. Slot; 605. Adjusting rotating rod; 606. Conversion electric telescopic rod; 607. Plate clamping plate; 608. Mounting slot; 609. Connecting slot; 610. Adjusting slide; 611. Adjusting sliding pin; 612. Connecting slide 613. Rotating connecting pin; 614. Storage slot; 615. Elastic support plate; 7. Visual recognition component; 701. Displacement electric telescopic rod; 702. Moving block; 703. Motor mounting bracket; 704. Rotating motor; 705. Adjusting gear; 706. Transmission rack; 707. Rotating arc plate; 708. Visual recognition camera; 709. Guide support arc plate; 710. Arc guide groove; 8. Laser welding component; 9. Fixing base. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] like Figure 1 As shown, an intelligent welding system based on machine vision surface inspection includes a base 1, a control module, an energy module, and a processing module. The top of the base 1 is equipped with a vision recognition component 7 and a laser welding component 8, which are symmetrically positioned. A movable seat 2 is slidably mounted on the upper surface of the base 1. Two rotating bases 5 are located on the upper surface of the movable seat 2. A fixed seat 9 is fixed to the top of each rotating base 5. The fixed seat 9 is L-shaped and has two symmetrically positioned conversion clamps 6 fixed to its inner top side. An adjustment mechanism is inserted through the interior of the movable seat 2. The lead screw 3 and two symmetrically positioned guide support rods 4 are connected to the moving seat 2 and the adjusting lead screw 3 via threaded transmission. The ends of the guide support rods 4 are fixed to the base 1. The two ends of the adjusting lead screw 3 are rotatably inserted into the base 1 and rotatably connected to the base 1 via roller bearings. One end of the adjusting lead screw 3 is connected to a displacement motor. The bottom of the base 1 is provided with a venting groove, which is located below the displacement motor. The positions of the moving seat 2, the rotating base 5, and the conversion fixture 6 for clamping the welding parts are changed by using the displacement motor and the adjusting lead screw 3, so as to move the welding parts from the visual scanning position to the welding position.

[0030] The rotating base 5 is equipped with a rotating motor inside. The bottom end of the rotating motor is fixed to the movable seat 2. The bottom end of the rotating base 5 is in rotatable contact with the movable seat 2. The output shaft of the rotating motor is vertically upward and fixed to the rotating base 5. The top outer surface of the rotating base 5 has a ring array of heat dissipation holes that penetrate the rotating base 5. The rotation of the rotating base 5 and the fixed seat 9 is controlled by the rotating motor, thereby changing the orientation of the conversion clamp 6, so as to clamp and fix the tubular welded parts, and dissipate the heat generated by the rotating motor during operation through the heat dissipation holes.

[0031] The control module regulates the state changes of the conversion fixture 6 and the visual recognition component 7 performs visual scanning of the weldment to achieve clamping of the pipe or plate. The processing module processes the visual scanning results and provides a welding scheme. The energy module box laser welding component 8 outputs and controls energy. Finally, the control module controls the laser welding component 8 to perform laser welding on the weldment.

[0032] like Figure 1 , Figures 4 to 7 As shown, the conversion fixture 6 includes a fixed plate 601. Two symmetrical pipe clamping plates 603 are rotatably mounted on the end of the fixed plate 601 away from the fixed seat 9. The inner side of the end of the pipe clamping plate 603 away from the fixed plate 601 is provided with a mounting groove 608. The outer side of the end of the adjusting rotating rod 605 connected to the fixed plate 601 is provided with a slot 604. The upper and lower surfaces of the fixed plate 601 are both fixed with an adjusting electric telescopic rod 602. The movable end of the adjusting electric telescopic rod 602 is slidably engaged in the inner side of the slot 604.

[0033] A plate clamping plate 607 and an adjusting rotating rod 605 are rotatably mounted on the inner side of the mounting slot 608. A connecting groove 609 is provided on the inner side of one end of the plate clamping plate 607. One end of the adjusting rotating rod 605 is located inside the connecting groove 609, and adjusting grooves 610 are provided through both sides of the other end of the adjusting rotating rod 605. A conversion electric telescopic rod 606 is fixed to the outer surface of the pipe clamping plate 603. The movable end of the conversion electric telescopic rod 606 is located inside the adjusting groove 610. An adjusting sliding pin 611 is inserted through the movable end. The end of the adjusting sliding pin 611 slides inside the adjusting groove 610, and the end face of the adjusting sliding pin 611 is flush with the side of the adjusting rotating rod 605. By converting the movable end of the electric telescopic rod 606, the adjusting sliding pin 611 is driven to move linearly, thereby causing the adjusting rotating rod 605 to rotate. At the same time, the adjusting rotating rod 605 changes the state of the plate clamping plate 607, thereby changing the state of the clamp and clamping the pipe or plate.

[0034] The end of the adjusting rotating rod 605 located inside the connecting groove 609 is inserted with a rotating connecting pin 613. Both inner walls of the connecting groove 609 are provided with connecting sliding grooves 612. The end of the rotating connecting pin 613 is slidably engaged inside the connecting sliding groove 612. The adjusting rotating rod 605 and the plate clamping plate 607 are slidably connected by the rotating connecting pin 613, ensuring that the rotation of the adjusting rotating rod 605 is not affected while driving the plate clamping plate 607 to change its state.

[0035] The two pipe clamping plates 603 are connected to the fixed plate 601, and their ends facing each other are provided with storage grooves 614. Multiple elastic support plates 615 are fixed between the two pipe clamping plates 603. The elastic support plates 615 are located inside the two storage grooves 614. The two ends of the elastic support plates 615 are perpendicular to the pipe clamping plates 603. The middle part of the elastic support plates 615 is V-shaped. When the two rotating connecting pins 613 lose the thrust restriction of the electric telescopic rod 602, the bent elastic support plate 615 applies a thrust to the two pipe clamping plates 603 outward, thereby causing the two pipe clamping plates 603 to separate from each other. This causes the pipe clamping plates 603 to lose the clamping force of the welded parts, making it easier to remove the welded parts.

[0036] like Figures 1 to 3 As shown, the visual recognition component 7 includes a displacement electric telescopic rod 701, which is fixedly connected to the base 1 and has a movable block 702 fixed at its movable end. A rotating arc plate 707 is slidably installed on the inner side of the other end of the movable block 702. Visual recognition cameras 708 are fixed on the inner sides of both ends of the rotating arc plate 707. The axes of the two visual recognition cameras 708 are coincident. The two visual recognition cameras 708 are used to visually scan the clamped welding parts from above and below to determine the welding position of the welding parts.

[0037] A motor mounting bracket 703 is fixed to one side of the movable block 702. A rotating motor 704 is fixed to the inner side of the motor mounting bracket 703. The output shaft of the rotating motor 704 extends through the movable block 702 to the inner side of the movable block 702. An adjusting gear 705 is fixed to the output shaft of the rotating motor 704. A transmission rack 706 is fixed to the outer surface of the rotating arc plate 707. The transmission rack 706 meshes with the adjusting gear 705. When the rotating motor 704 is energized, it drives the adjusting gear 705 to rotate, causing the transmission rack 706 to drive the rotating arc plate 707 to perform a circular motion. This enables the visual recognition camera 708 to rotate around the axis of the rotating arc plate 707, thereby performing a comprehensive visual scan of the tubular welded parts.

[0038] Both sides of the rotating arc plate 707 are provided with arc-shaped guide grooves 710. A guide support arc plate 709 is engaged with the inner side of the arc-shaped guide groove 710. The guide support arc plate 709 is fixed with the moving block 702. The rotating arc plate 707 driven by the adjusting gear 705 and the transmission rack 706 is moved and guided by the guide support arc plate 709, so that the rotating arc plate 707 performs circular motion around its axis.

[0039] Working principle: First, the state of the conversion fixture 6 is determined according to the shape of the workpiece to be laser welded. When performing visual scanning and laser welding on the tubular workpiece, the rotary motor inside the rotating base 5 drives the rotating base 5 and the fixed base 9 to rotate 90 degrees, so that the axes of all the pipe clamping plates 603 are aligned. At this time, the end of the conversion electric telescopic rod 606 extends. The end of the conversion electric telescopic rod 606 pushes the end of the adjusting rotating rod 605 through the adjusting sliding pin 611, so that the end of the adjusting rotating rod 605 located inside the pipe clamping plate 603 rotates to the outside of the pipe clamping plate 603. At this time, the adjusting rotating rod 605... 5. By rotating the connecting pin 613, the plate clamping plate 607 is pushed to the outside of the pipe clamping plate 603 until the adjusting rotating rod 605 and the plate clamping plate 607 are both disengaged from the inside of the pipe clamping plate 603. At this time, the welded part is placed between the upper and lower adjacent pipe clamping plates 603. The electric telescopic rod 602 is started to push the pipe clamping plate 603 through its movable end until the two pipe clamping plates 603 are attached to the outside of the tubular welded part, and the end of the electric telescopic rod 602 is located inside the slot 604 to achieve clamping of the tubular welded part.

[0040] When clamping the plate-shaped welded parts, the internal rotary motor of the rotating base 5 does not need to be started. Only the electric telescopic rod 606 needs to be started and the movable end needs to be retracted. When the end of the electric telescopic rod 606 is retracted, the adjusting sliding pin 611 pulls the adjusting rotating rod 605. The end of the adjusting rotating rod 605 connected to the plate clamping plate 607 rotates inward toward the pipe clamping plate 603. At this time, the pipe clamping plate 603 drives the plate clamping plate 607 to rotate inward toward the pipe clamping plate 603 through the rotating connecting pin 613 until the adjusting rotating rod 605 is perpendicular to the plate clamping plate 607. At this time, the welded parts are placed between the upper and lower adjacent pipe clamping plates 603. The electric telescopic rod 602 is started and pushes the pipe clamping plate 603 through the movable end until the two plate clamping plates 607 contact the upper and lower surfaces of the plate-shaped welded parts, and the end of the electric telescopic rod 602 is located inside the slot 604, thus achieving the clamping of the plate-shaped welded parts.

[0041] After the welded part is clamped and fixed by the conversion fixture 6, the clamped welded part is moved between the two visual recognition cameras 708 by adjusting the lead screw 3 and the moving seat 2. The visual recognition cameras 708 visually scan the welded part from above and below. When the welded part being scanned is a tubular welded part, the rotating arc plate 707 is driven by the rotating motor 704, adjusting gear 705 and transmission rack 706 to make reciprocating circular motion inside the moving block 702 to perform a full-range visual scan of the tubular welded part. After the visual scan is completed, the clamped welded part is moved again to the bottom of the laser welding assembly 8 by the moving seat 2 and adjusting lead screw 3, and the laser welding program is started to perform welding operations on the welded part.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An intelligent welding system based on machine vision surface inspection, comprising a base (1), a control module, an energy module, and a processing module, characterized in that: The upper surface of the base (1) is slidably mounted with a movable seat (2), and the upper surface of the movable seat (2) is provided with two rotating bases (5). The top of the rotating base (5) is fixed with a fixed seat (9). The fixed seat (9) is bent in an L-shape and has two symmetrically positioned conversion clamps (6) fixed on the inner side of the top. The conversion clamp (6) includes a fixed plate (601). Two symmetrical pipe clamping plates (603) are rotatably mounted on the end of the fixed plate (601) away from the fixed seat (9). The inner side of the end of the pipe clamping plate (603) away from the fixed plate (601) is provided with a mounting groove (608). The outer side of the end of the adjusting rotating rod (605) connected to the fixed plate (601) is provided with a slot (604). The upper and lower surfaces of the fixed plate (601) are both fixed with an adjusting electric telescopic rod (602). The movable end of the adjusting electric telescopic rod (602) is slidably engaged with the inner side of the slot (604). The inner side of the mounting groove (608) is rotatably mounted with a plate clamping plate (607) and an adjusting rotating rod (605). A connecting groove (609) is provided on the inner side of one end of the fitting clamping plate (607). One end of the adjusting rotating rod (605) is located inside the connecting groove (609). The other end of the adjusting rotating rod (605) is provided with adjusting slide grooves (610) on both sides. A conversion electric telescopic rod (606) is fixed on the outer surface of the fitting clamping plate (603). The movable end of the conversion electric telescopic rod (606) is located inside the adjusting slide groove (610). An adjusting sliding pin (611) is inserted through the movable end of the conversion electric telescopic rod (606). The end of the adjusting sliding pin (611) is slidably located inside the adjusting slide groove (610). The end face of the adjusting sliding pin (611) is flush with the side of the adjusting rotating rod (605).

2. The intelligent welding system based on machine vision surface inspection according to claim 1, characterized in that: The end of the adjusting rotating rod (605) located inside the connecting groove (609) is inserted with a rotating connecting pin (613). Both inner walls of the connecting groove (609) are provided with connecting sliding grooves (612). The end of the rotating connecting pin (613) is slidably engaged inside the connecting sliding groove (612).

3. The intelligent welding system based on machine vision surface inspection according to claim 1, characterized in that: The two pipe clamping plates (603) are connected to the fixing plate (601) and the surfaces facing each other are provided with storage grooves (614). Multiple elastic support plates (615) are fixed between the two pipe clamping plates (603) and the elastic support plates (615) are located inside the two storage grooves (614).

4. The intelligent welding system based on machine vision surface inspection according to claim 3, characterized in that: The two ends of the elastic support plate (615) are perpendicular to the pipe clamping plate (603), and the middle part of the elastic support plate (615) is V-shaped.

5. The intelligent welding system based on machine vision surface inspection according to claim 1, characterized in that: The top of the base (1) is provided with a visual recognition component (7) and a laser welding component (8), and the positions of the visual recognition component (7) and the laser welding component (8) are symmetrical.

6. The intelligent welding system based on machine vision surface inspection according to claim 5, characterized in that: The visual recognition component (7) includes a displacement electric telescopic rod (701), which is fixedly connected to the base (1) and has a movable block (702) fixed at its movable end. A rotating arc plate (707) is slidably installed on the inner side of the other end of the movable block (702). Visual recognition cameras (708) are fixed on the inner sides of both ends of the rotating arc plate (707), and the axes of the two visual recognition cameras (708) coincide.

7. The intelligent welding system based on machine vision surface inspection according to claim 6, characterized in that: A motor mounting bracket (703) is fixed on one side of the movable block (702), and a rotating motor (704) is fixed on the inner side of the motor mounting bracket (703). The output shaft end of the rotating motor (704) extends through the movable block (702) to the inner side of the movable block (702), and an adjusting gear (705) is fixed on the output shaft end of the rotating motor (704). A transmission rack (706) is fixed on the outer surface of the rotating arc plate (707), and the transmission rack (706) meshes with the adjusting gear (705).

8. The intelligent welding system based on machine vision surface inspection according to claim 7, characterized in that: Both sides of the rotating arc plate (707) are provided with arc-shaped guide grooves (710), and the inner side of the arc-shaped guide grooves (710) is engaged with a guide support arc plate (709), which is fixed to the moving block (702).

9. The intelligent welding system based on machine vision surface inspection according to claim 1, characterized in that: The movable seat (2) is internally connected to an adjusting screw (3) and two symmetrically positioned guide support rods (4). The movable seat (2) and the adjusting screw (3) are connected by a threaded transmission. The end of the guide support rod (4) is fixed to the base (1). The two ends of the adjusting screw (3) are rotatably inserted into the base (1) and rotatably connected to the base (1) through roller bearings. One end of the adjusting screw (3) is connected to a displacement motor. The bottom of the base (1) is provided with a ventilation groove, which is located below the displacement motor.

10. The intelligent welding system based on machine vision surface inspection according to claim 1, characterized in that: The rotating base (5) is equipped with a rotating motor inside. The bottom end of the rotating motor is fixed to the moving seat (2). The bottom end of the rotating base (5) is in rotational contact with the moving seat (2). The output shaft of the rotating motor is vertically upward and fixed to the rotating base (5). The top outer surface of the rotating base (5) is distributed with heat dissipation holes that penetrate the rotating base (5) in a ring array.

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