Welding robot image recognition device and welding bead adjusting system

Abstract

The invention relates to the technical field of welding, in particular to a welding robot image recognition device and a welding bead adjusting system.The welding robot image recognition device comprises a fixing base arranged on a mechanical arm, and a mounting base is arranged in the fixing base; the first rotating assembly is arranged on the mounting seat; the first telescopic assembly is arranged at the output end of the first rotating assembly, and the first rotating assembly can drive the first telescopic assembly to rotate; the rotary driving part is arranged at the output end of the first telescopic assembly, and the first telescopic assembly can drive the rotary driving part to move in the transverse direction; and the welding visual camera is arranged at the output end of the rotary driving part, and the rotary driving part can drive the welding visual camera to rotate so as to adjust the angle. According to the invention, the welding bead can be identified, the welding quality is ensured, and the conditions of wrong welding and welding skips are avoided.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a welding robot image recognition device and a weld bead adjustment system. Background Technology

[0002] During the manufacturing of urban rail vehicles, the main structural components need to be welded. Manual welding wastes a significant amount of labor costs and results in inconsistent quality. Therefore, collaborative robotic arms are used in conjunction with welding torches to replace manual welding. However, during collaborative robotic arm welding, the lack of scanning and correction methods means that it cannot identify whether the robotic arm's movement trajectory matches the weld bead on the workpiece, which cannot guarantee the quality of the weld and can easily lead to missed welds or incorrect welds.

[0003] Therefore, a welding robot image recognition device and a weld bead adjustment system are needed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a welding robot image recognition device and a weld bead adjustment system, which can identify weld beads, ensure welding quality, and avoid incorrect welding or missed welding.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The welding robot image recognition device includes:

[0007] A fixed base is mounted on the robotic arm, and the fixed base contains a mounting seat.

[0008] A first rotating assembly is disposed on the mounting base;

[0009] A first telescopic component is disposed at the output end of the first rotating component, and the first rotating component is capable of driving the first telescopic component to rotate.

[0010] A rotary drive component is disposed at the output end of the first telescopic component, and the first telescopic component is capable of driving the rotary drive component to move laterally.

[0011] A welding vision camera is disposed at the output end of the rotary drive, which is capable of driving the welding vision camera to rotate to adjust the angle.

[0012] In some embodiments, the first rotating assembly includes a mounting ring, a first drive motor, a main gear, a gear ring, and a fixed ring. The mounting ring is fixedly sleeved on the mounting base, the first drive motor is disposed in the mounting ring, the main gear is disposed at the output end of the first drive motor, the gear ring is rotatably disposed in the mounting ring, the fixed ring is fixedly connected to the gear ring, and the first telescopic assembly is disposed on the fixed ring.

[0013] In some embodiments, the first telescopic assembly includes a first electric push rod and a fixing frame, the first electric push rod is disposed on the fixing ring, the fixing frame is connected to the output end of the first electric push rod, and the rotary drive is disposed on the fixing frame.

[0014] In some embodiments, a second telescopic component and a cleaning component are also included. The second telescopic component is disposed at the output end of the first rotating component, and the cleaning component is disposed at the output end of the second telescopic component. The second telescopic component is capable of driving the cleaning component to move toward the welding vision camera to clean the lens of the welding vision camera.

[0015] In some embodiments, the second telescopic assembly includes a second electric push rod and a protective housing. The second electric push rod is disposed at the output end of the first rotating assembly, and the protective housing is disposed at the output end of the second electric push rod. The cleaning assembly is disposed in the protective housing, and the protective housing has an opening on the side facing the welding vision camera.

[0016] In some embodiments, the cleaning assembly includes a wiping assembly, a second rotating assembly, and a support assembly. The wiping assembly is disposed in the protective housing and is capable of releasing and retrieving the wiping tape. The support assembly is disposed in the protective housing and is capable of supporting the wiping tape to cover the lens of the welding vision camera. The second rotating assembly is disposed in the protective housing and is kinetically connected to the wiping assembly and the support assembly. The second rotating assembly is capable of driving the wiping assembly and the support assembly to rotate so that the wiping tape rotates to wipe the lens.

[0017] In some embodiments, the support assembly includes an air box, an air pump, a rotating tube, and an air bladder. The air box is disposed on the protective box. One end of the air pump is connected to the air box, and the other end of the air pump is connected to the rotating tube. The rotating tube is drivenly connected to the second rotating assembly and is connected to the air bladder. The air bladder can support the wiping strip after being inflated.

[0018] In some embodiments, the second rotating assembly includes a second drive motor, a drive gear, and a driven gear. The second drive motor is disposed in the protective housing, the drive gear is disposed at the output end of the second drive motor, and the driven gear is fixedly sleeved on the rotating tube, and the drive gear meshes with the driven gear.

[0019] In some embodiments, the wiping assembly includes a cleaning liquid supply assembly, a winding assembly, and an unwinding assembly. The winding assembly and the unwinding assembly are spaced apart in the protective box, and both the winding assembly and the unwinding assembly are connected to the rotating tube. The wiping tape is wound around the winding assembly and the unwinding assembly, and the cleaning liquid supply assembly is disposed on the unwinding assembly.

[0020] Weld bead adjustment system, including:

[0021] The robotic arm drive module is used to control the robotic arm to perform welding.

[0022] The weld image acquisition module is used to acquire weld images in real time using a welding vision camera mounted on the robotic arm.

[0023] The weld bead recognition module is communicatively connected to the weld bead image acquisition module and is used to acquire the welding position that the robotic arm will move to.

[0024] The matching and recognition module is communicatively connected to the weld recognition module and is used to match the weld required by the workpiece to be welded with the welding position that the robotic arm is to move to.

[0025] The analysis and adjustment module is communicatively connected to the matching and identification module. It is used to identify whether the welding position that the robotic arm is about to move to is the weld bead required when welding the workpiece and to generate movement adjustment parameters.

[0026] The parameter feedback module is communicatively connected to the robotic arm drive module and is used to transmit the movement adjustment parameters to the robotic arm drive module, so that the robotic arm drive module can adjust its position.

[0027] The beneficial effects of this invention are:

[0028] This invention provides a welding robot image recognition device. A first rotating component is mounted on a mounting base, and a first telescopic component is located at the output end of the first rotating component. The first rotating component can drive the first telescopic component to rotate. A rotation drive is located at the output end of the first telescopic component, and the first telescopic component can drive the rotation drive to move laterally. A welding vision camera is located at the output end of the rotation drive, and the rotation drive can drive the welding vision camera to rotate to adjust its angle. The first rotating component and the rotation drive can cooperate to adjust the angle of the welding vision camera, and the first telescopic component can drive the welding vision camera to move laterally to adjust its position. Through this configuration, the welding vision camera can be adjusted according to the welding position, thereby effectively identifying weld beads and adjusting the position of the welding torch based on the identified weld beads, ensuring welding quality and avoiding incorrect or missed welds.

[0029] The present invention provides a weld bead adjustment system, comprising a robotic arm drive module, a weld bead image acquisition module, a weld bead recognition module, a matching recognition module, an analysis and adjustment module, and an adjustment parameter feedback module. Through the cooperation of these modules, the weld bead can be recognized, and the position of the robotic arm can be adjusted according to the recognition results, ensuring that the welding torch aligns with the weld bead, thereby guaranteeing welding quality and preventing incorrect or incomplete welding. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of a welding robot image recognition device installed on a robotic arm according to the present invention;

[0032] Figure 2 This is a schematic diagram of an image recognition device for a welding robot according to the present invention;

[0033] Figure 3 This is a schematic diagram of the interior of the protective box in the image recognition device for a welding robot of the present invention;

[0034] Figure 4 This is a schematic diagram of the unwinding and rewinding components in a welding robot image recognition device of the present invention;

[0035] Figure 5 This is a side view of the interior of the protective box in the image recognition device for a welding robot according to the present invention;

[0036] Figure 6This is a schematic diagram of a weld bead adjustment system according to the present invention.

[0037] In the picture:

[0038] 100. Robotic arm drive module; 200. Weld bead image acquisition module; 300. Weld bead recognition module; 400. Matching and recognition module; 500. Analysis and adjustment module; 600. Adjustment parameter feedback module; 1. Robotic arm; 11. Fixed base; 111. Mounting base; 12. Welding torch; 2. Shielding assembly; 21. Storage box; 22. Third drive motor; 23. Winding roller; 24. Protective cloth; 25. Fourth drive motor; 26. Lead screw; 27. Traction block; 3. First rotating assembly; 31. Mounting ring; 32. First drive motor; 33. Main gear; 34. Gear ring; 35. Fixed ring; 4. First telescopic assembly; 41. First electric push rod; 42. Fixing frame; 5. Welding vision camera; 51. Rotation drive component 6. Second telescopic assembly; 61. Second electric push rod; 62. Protective box; 621. Guide groove; 7. Support assembly; 71. Air box; 72. Air pump; 73. Rotating tube; 74. Airbag; 8. Second rotating assembly; 81. Fixed box; 82. Second drive motor; 83. Drive gear; 84. Driven gear; 9. Wiping assembly; 91. Unwinding box; 911. First baffle; 92. Unwinding motor; 93. First rotating seat; 931. First positioning block; 932. Unwinding roller; 94. Cleaning liquid tank; 941. Liquid pump; 95. Wiping belt; 96. Rewinding box; 961. Second baffle; 97. Rewinding motor; 98. Second rotating seat; 981. Second positioning block; 982. Rewinding roller; 99. Support seat. Detailed Implementation

[0039] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0040] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0041] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0042] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0043] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0044] In the process of using welding robots to weld urban rail vehicles, in order to identify weld beads, ensure welding quality, and avoid incorrect or incomplete welds, such as... Figures 1-6 As shown, the present invention provides a welding robot image recognition device. The welding robot image recognition device includes a fixed base 11, a first rotating component 3, a first telescopic component 4, a rotating drive component 51, and a welding vision camera 5.

[0045] The system includes a fixed base 11 mounted on the robotic arm 1, with a mounting base 111 within it. A first rotating assembly 3 is mounted on the mounting base 111. A first telescopic assembly 4 is located at the output end of the first rotating assembly 3, enabling the first rotating assembly 3 to drive the first telescopic assembly 4 to rotate. A rotation drive 51 is located at the output end of the first telescopic assembly 4, enabling the first telescopic assembly 4 to drive the rotation drive 51 to move laterally. A welding vision camera 5 is located at the output end of the rotation drive 51, enabling the rotation drive 51 to drive the welding vision camera 5 to rotate and adjust its angle.

[0046] The first rotating component 3 and the rotating drive component 51 can cooperate to adjust the angle of the welding vision camera 5, and the first telescopic component 4 can drive the welding vision camera 5 to move laterally to adjust its position. With the above settings, the welding vision camera 5 can be adjusted according to the welding position, thereby effectively identifying the weld bead, adjusting the position of the welding torch 12 according to the identified weld bead, ensuring welding quality, and avoiding incorrect welding or missed welding.

[0047] In some embodiments, the first rotating assembly 3 includes a mounting ring 31, a first drive motor 32, a main gear 33, a gear ring 34, and a fixing ring 35. The mounting ring 31 is fixedly sleeved on the mounting base 111. The first drive motor 32 is disposed in the mounting ring 31. The main gear 33 is disposed at the output end of the first drive motor 32. The gear ring 34 is rotatably disposed in the mounting ring 31. The fixing ring 35 is fixedly connected to the gear ring 34. The first telescopic assembly 4 is disposed on the fixing ring 35. By setting the mounting ring 31, a space is formed for mounting the first drive motor 32. The first drive motor 32 drives the main gear 33 to rotate, thereby driving the gear ring 34 to rotate. The gear ring 34 drives the fixing ring 35 to rotate, which in turn drives the first telescopic assembly 4 to rotate synchronously, thereby driving the welding vision camera 5 to rotate and adjust its angle. In order to ensure precise control of the rotation angle of the welding vision camera 5, the first drive motor 32 can be a servo motor.

[0048] In some embodiments, the first telescopic assembly 4 includes a first electric push rod 41 and a fixed frame 42. The first electric push rod 41 is disposed on a fixed ring 35, and the fixed frame 42 is connected to the output end of the first electric push rod 41. A rotary drive component 51 is disposed on the fixed frame 42. By controlling the extension and retraction of the first electric push rod 41, the position of the fixed frame 42 can be adjusted, thereby allowing the lateral position of the welding vision camera 5 to be adjusted according to the weld bead position, facilitating the alignment of the welding vision camera 5 with the weld bead. The use of the first electric push rod 41 facilitates control.

[0049] In some embodiments, the welding robot image recognition device further includes a second telescopic component 6 and a cleaning component. The second telescopic component 6 is disposed at the output end of the first rotating component 3, and the cleaning component is disposed at the output end of the second telescopic component 6. The second telescopic component 6 can drive the cleaning component to move toward the welding vision camera 5 to clean the lens of the welding vision camera 5. With the above configuration, the lens of the welding vision camera 5 can be automatically cleaned as needed, thereby ensuring the cleanliness of the lens of the welding vision camera 5 and facilitating the acquisition of clear weld images.

[0050] In some embodiments, the second telescopic assembly 6 includes a second electric push rod 61 and a protective housing 62. The second electric push rod 61 is disposed at the output end of the first rotating assembly 3, and the protective housing 62 is disposed at the output end of the second electric push rod 61. The cleaning assembly is disposed in the protective housing 62, which has an opening on the side facing the welding vision camera 5. The position of the protective housing 62 can be adjusted by controlling the extension and retraction of the second electric push rod 61, thereby allowing the welding vision camera 5 to be inserted into or separated from the protective housing 62. The use of the second electric push rod 61 facilitates control. The protective housing 62 facilitates the installation of the cleaning assembly and provides protection for the cleaning assembly.

[0051] In some embodiments, the cleaning assembly includes a wiping assembly 9, a second rotating assembly 8, and a support assembly 7. The wiping assembly 9 is disposed in a protective housing 62 and is capable of releasing and retrieving the wiping tape 95. The support assembly 7 is disposed in the protective housing 62 and is capable of supporting the wiping tape 95 to cover the lens of the welding vision camera 5. The second rotating assembly 8 is disposed in the protective housing 62 and is convexly connected to the wiping assembly 9 and the support assembly 7. The second rotating assembly 8 is capable of driving the wiping assembly 9 and the support assembly 7 to rotate, causing the wiping tape 95 to rotate and wipe the lens. By providing the support assembly 7, the wiping tape 95 can be supported, thereby enabling the wiping tape 95 to effectively contact the lens of the welding vision camera 5. By driving the wiping assembly 9 to rotate through the second rotating assembly 8, the wiping tape 95 can be rotated relative to the lens of the welding vision camera 5, thereby ensuring the cleaning effect. The wiping assembly 9 can automatically supply and automatically retrieve the wiping tape 95.

[0052] In some embodiments, the support assembly 7 includes an air box 71, an air pump 72, a rotating tube 73, and an air bladder 74. The air box 71 is mounted on the protective box 62. One end of the air pump 72 is connected to the air box 71, and the other end is connected to the rotating tube 73. The rotating tube 73 is connected to the second rotating assembly 8 and is also connected to the air bladder 74. When the air bladder 74 is inflated, it can support the wiping belt 95. When it is necessary to support the wiping belt 95, the air pump 72 delivers gas from the air box 71 to the air bladder 74 through the rotating tube 73. The air bladder 74 inflates and expands, thereby supporting the wiping belt 95 located at the corresponding position on the air bladder 74, so that the wiping belt 95 can effectively contact the lens of the welding vision camera 5. By using the air bladder 74 for support, the wiping belt 95 can effectively adhere to the lens of the welding vision camera 5.

[0053] In some embodiments, the second rotating assembly 8 includes a second drive motor 82, a drive gear 83, and a driven gear 84. The second drive motor 82 is mounted on a fixed housing 81 within the protective housing 62. The drive gear 83 is located at the output end of the second drive motor 82. The driven gear 84 is fixedly sleeved on the rotating tube 73, and the drive gear 83 meshes with the driven gear 84. When it is necessary to rotate the lens of the welding vision camera 5 for cleaning, the second drive motor 82 operates, thereby driving the driven gear 84 to rotate via the drive gear 83. The driven gear 84 then drives the cleaning assembly 9 and the airbag 74 to rotate via the rotating tube 73, thereby efficiently cleaning the welding vision camera 5.

[0054] In some embodiments, the wiping assembly 9 includes a cleaning fluid supply assembly, a winding assembly, and an unwinding assembly. The winding assembly and the unwinding assembly are spaced apart in the protective housing 62, and both are connected to the rotating tube 73. The wiping tape 95 is wound around the winding assembly and the unwinding assembly, and the cleaning fluid supply assembly is disposed on the unwinding assembly. By providing the cleaning fluid supply assembly, cleaning fluid can be supplied to the wiping tape 95 during the operation of the unwinding assembly. After the wiping tape 95 wipes the lens of the welding vision camera 5, the winding assembly rolls up the used wiping tape 95 for recycling.

[0055] In some embodiments, the unwinding assembly includes an unwinding box 91, an unwinding roller 932, and an unwinding motor 92. The unwinding box 91 is fixedly connected to the rotating tube 73 via a support base 99. The unwinding motor 92 is disposed in the unwinding box 91, and a first rotating seat 93 is disposed at the output end of the unwinding motor 92. The unwinding roller 932 is sleeved on the first rotating seat 93, and the unwinding roller 932 is engaged with a first positioning block 931 on the first rotating seat 93. The winding assembly includes a winding box 96, a winding roller 982, and a winding motor 97. A take-up box 96 and an unwind box 91 are spaced apart. An airbag 74 is located between the take-up box 96 and the unwind box 91. The take-up box 96 is fixedly connected to the rotating tube 73 via a support base 99. A take-up motor 97 is located in the take-up box 96. A second rotating seat 98 is provided at the output end of the take-up motor 97. A take-up roller 982 is sleeved on the second rotating seat 98, and the take-up roller 982 is engaged with a second positioning block 981 on the second rotating seat 98. A wiping belt 95 is wound around the take-up roller 982, with one end of the wiping belt 95 extending out and wound around the take-up roller 982. When the wiping belt 95 is replaced after wiping, the unwind motor 92 and the take-up motor 97 work simultaneously. The unwind motor 92 releases the wiping belt 95, and the take-up motor 97 synchronously retracts the used wiping belt 95, realizing the automatic replacement of the wiping belt 95.

[0056] After the wiping belt 95 is used up, for easy replacement, one end of the unwinding box 91 has a removable first baffle 911, and one end of the winding box 96 has a removable second baffle 961. In this way, when the wiping belt 95 needs to be replaced, firstly, the first baffle 911 and the second baffle 961 are removed, then the winding roller 982 and the unwinding roller 932 are taken out, a new wiping belt 95 is replaced, and then the winding roller 982 is installed on the second rotating seat 98, and the unwinding roller 932 is installed on the first rotating seat 93. This method facilitates the replacement of the wiping belt 95.

[0057] In some embodiments, the cleaning fluid supply assembly includes a cleaning fluid tank 94 and a pump 941. The cleaning fluid tank 94 is fixedly disposed on the upper end of the unwinding box 91 and is used to store cleaning fluid. The pump 941 is disposed on the cleaning fluid tank 94 and communicates with the cleaning fluid tank 94. The other end of the pump 941 is located above the wiping belt 95 and is used to pump the cleaning fluid onto the wiping belt 95. With the above arrangement, cleaning fluid can be supplied to the wiping belt 95 to clean the lens of the welding vision camera 5, thereby ensuring the cleaning effect on the lens of the welding vision camera 5.

[0058] In some embodiments, to protect the cleaning components inside the protective housing 62, a shielding component 2 is provided at the opening of the protective housing 62 facing the welding vision camera 5. When cleaning of the lens of the welding vision camera 5 is not required, the shielding component 2 rises to block the opening, thereby creating a closed space inside the protective housing 62. When cleaning of the lens of the welding vision camera 5 is required, the shielding component 2 descends, opening the opening, and the protective housing 62 can dock with the welding vision camera 5 under the action of the second electric push rod 61, thereby using the cleaning components inside the protective housing 62 to clean the lens of the welding vision camera 5.

[0059] In some embodiments, the shielding assembly 2 includes a storage box 21, a winding roller 23, a third drive motor 22, a fourth drive motor 25, a lead screw 26, and a traction block 27. The storage box 21 is fixedly disposed at the lower end of the protective box 62. The winding roller 23 is rotatably disposed inside the storage box 21. The third drive motor 22 is disposed in the storage box 21 and is drive-connected to the winding roller 23. A baffle cloth 24 is wound on the winding roller 23. A guide groove 621 is vertically formed on one side of the interior of the protective box 62. The fourth drive motor 25 is disposed at the lower end of the guide groove 621. The lead screw 26 is disposed in the guide groove 621 along its extension direction and is drive-connected to the output end of the fourth drive motor 25. The traction block 27 is slidably disposed in the guide groove 621 and is threadedly connected to the lead screw 26. One end of the baffle cloth 24 is connected to the traction block 27. When it is necessary to raise the baffle 24 to cover the opening of the protective box 62, the third drive motor 22 and the fourth drive motor 25 work synchronously. The third drive motor 22 drives the winding roller 23 to rotate, thereby releasing the baffle 24 wrapped on the winding roller 23. The fourth drive motor 25 drives the lead screw 26 to rotate, causing the traction block 27 to slide upward along the guide groove 621. The traction block 27 drives the baffle 24 to rise, thereby covering the opening of the protective box 62. When it is necessary to lower the baffle 24 to open the opening of the protective box 62, the third drive motor 22 and the fourth drive motor 25 work synchronously. The third drive motor 22 drives the winding roller 23 to rotate in the opposite direction, thereby winding and retracting the baffle 24 wrapped on the winding roller 23. The fourth drive motor 25 drives the lead screw 26 to rotate in the opposite direction, causing the traction block 27 to slide downward along the guide groove 621. The traction block 27 drives the baffle 24 to fall, thereby opening the opening of the protective box 62, facilitating subsequent cleaning of the lens of the welding vision camera 5.

[0060] like Figure 6As shown, this embodiment also provides a weld bead adjustment system, which includes a robotic arm drive module 100, a weld bead image acquisition module 200, a weld bead recognition module 300, a matching recognition module 400, an analysis and adjustment module 500, and an adjustment parameter feedback module 600. The robotic arm drive module 100 controls the robotic arm 1 to work for welding. The weld bead image acquisition module 200 acquires weld bead images in real time using a welding vision camera 5 mounted on the robotic arm 1. The weld bead recognition module 300 is communicatively connected to the weld bead image acquisition module 200 and acquires the welding position that the robotic arm 1 will move to. The matching recognition module 400 is communicatively connected to the weld bead recognition module 300 and matches the welding position that the robotic arm 1 will move to with the weld bead required by the workpiece to be welded. The analysis and adjustment module 500 is communicatively connected to the matching recognition module 400 and identifies whether the welding position that the robotic arm 1 will move to is within the weld bead required for welding the workpiece and generates movement adjustment parameters. The adjustment parameter feedback module 600 is communicatively connected to the robotic arm drive module 100. The adjustment parameter feedback module 600 transmits movement adjustment parameters to the robotic arm drive module 100, enabling the robotic arm drive module 100 to adjust its position. Specifically, the adjustment parameter feedback module 600 identifies weld boundaries using the Canny edge detection algorithm, extracts geometric features using Hough transform, performs grayscale histogram analysis on the molten pool image to determine whether forming indicators such as weld width and weld height meet preset ranges, compares the real-time extracted weld trajectory coordinates with the preset path point by point, calculates the X / Y / Z axis deviation, processes continuous frame data using a sliding window algorithm to eliminate instantaneous jitter interference, generates correction parameters based on the deviation, and adjusts the robotic arm's pose and travel path using the robot's kinematic model.

[0061] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An image recognition device for welding robots, characterized in that, include: A fixed base (11) is provided on the robotic arm (1), and a mounting base (111) is provided in the fixed base (11); A first rotating assembly (3) is disposed on the mounting base (111); The first telescopic component (4) is disposed at the output end of the first rotating component (3), and the first rotating component (3) can drive the first telescopic component (4) to rotate. A rotary drive (51) is provided at the output end of the first telescopic assembly (4), and the first telescopic assembly (4) is capable of driving the rotary drive (51) to move laterally. A welding vision camera (5) is disposed at the output end of the rotary drive (51), which is capable of driving the welding vision camera (5) to rotate to adjust the angle.

2. The welding robot image recognition device according to claim 1, characterized in that, The first rotating component (3) includes a mounting ring (31), a first drive motor (32), a main gear (33), a gear ring (34), and a fixing ring (35). The mounting ring (31) is fixedly sleeved on the mounting base (111). The first drive motor (32) is disposed in the mounting ring (31). The main gear (33) is disposed at the output end of the first drive motor (32). The gear ring (34) is rotatably disposed in the mounting ring (31). The fixing ring (35) is fixedly connected to the gear ring (34). The first telescopic component (4) is disposed on the fixing ring (35).

3. The welding robot image recognition device according to claim 2, characterized in that, The first telescopic component (4) includes a first electric push rod (41) and a fixed frame (42). The first electric push rod (41) is disposed on the fixed ring (35). The fixed frame (42) is connected to the output end of the first electric push rod (41). The rotary drive component (51) is disposed on the fixed frame (42).

4. The welding robot image recognition device according to claim 1, characterized in that, It also includes a second telescopic component (6) and a cleaning component. The second telescopic component (6) is disposed at the output end of the first rotating component (3), and the cleaning component is disposed at the output end of the second telescopic component (6). The second telescopic component (6) can drive the cleaning component to move toward the welding vision camera (5) to clean the lens of the welding vision camera (5).

5. The welding robot image recognition device according to claim 4, characterized in that, The second telescopic assembly (6) includes a second electric push rod (61) and a protective box (62). The second electric push rod (61) is disposed at the output end of the first rotating assembly (3). The protective box (62) is disposed at the output end of the second electric push rod (61). The cleaning assembly is disposed in the protective box (62). The protective box (62) has an opening on the side facing the welding vision camera (5).

6. The welding robot image recognition device according to claim 5, characterized in that, The cleaning assembly includes a wiping assembly (9), a second rotating assembly (8), and a support assembly (7). The wiping assembly (9) is disposed in the protective box (62) and is capable of releasing and retrieving the wiping tape (95). The support assembly (7) is disposed in the protective box (62) and is capable of supporting the wiping tape (95) to cover the lens of the welding vision camera (5). The second rotating assembly (8) is disposed in the protective box (62) and is convexly connected to the wiping assembly (9) and the support assembly (7). The second rotating assembly (8) is capable of driving the wiping assembly (9) and the support assembly (7) to rotate so that the wiping tape (95) rotates to wipe the lens.

7. The welding robot image recognition device according to claim 6, characterized in that, The support assembly (7) includes an air box (71), an air pump (72), a rotating tube (73), and an air bag (74). The air box (71) is mounted on the protective box (62). One end of the air pump (72) is connected to the air box (71), and the other end of the air pump (72) is connected to the rotating tube (73). The rotating tube (73) is connected to the second rotating assembly (8) and to the air bag (74). When the air bag (74) is inflated, it can support the wiping belt (95).

8. The welding robot image recognition device according to claim 7, characterized in that, The second rotating component (8) includes a second drive motor (82), a drive gear (83), and a driven gear (84). The second drive motor (82) is disposed in the protective box (62). The drive gear (83) is disposed at the output end of the second drive motor (82). The driven gear (84) is fixedly sleeved on the rotating tube (73), and the drive gear (83) meshes with the driven gear (84).

9. The welding robot image recognition device according to claim 7, characterized in that, The wiping assembly (9) includes a cleaning liquid supply assembly, a winding assembly and an unwinding assembly. The winding assembly and the unwinding assembly are spaced apart in the protective box (62), and both the winding assembly and the unwinding assembly are connected to the rotating tube (73). The wiping tape (95) is wound around the winding assembly and the unwinding assembly, and the cleaning liquid supply assembly is disposed on the unwinding assembly.

10. A weld bead adjustment system, characterized in that, include: A robotic arm drive module (100) is used to control the robotic arm (1) to perform welding. The weld image acquisition module (200) is used to acquire weld images in real time by means of a welding vision camera (5) mounted on the robotic arm (1); The weld bead recognition module (300) is communicatively connected to the weld bead image acquisition module (200) and is used to acquire the welding position that the robotic arm (1) will move to. The matching and recognition module (400) is communicatively connected to the weld recognition module (300) and is used to match the weld required by the workpiece to be welded with the welding position to be moved by the robotic arm (1). The analysis and adjustment module (500) is communicatively connected to the matching and identification module (400) and is used to identify whether the welding position to which the robotic arm (1) is to be moved is within the weld bead required when welding the workpiece to be welded and to generate movement adjustment parameters. The parameter feedback module (600) is communicatively connected to the robotic arm drive module (100) and is used to transmit the movement adjustment parameters to the robotic arm drive module (100) so that the robotic arm drive module (100) can adjust its position.

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