A visualizing welding robot

Abstract

The application provides a visual welding robot and belongs to the technical field of welding equipment. The welding robot comprises a base, a welding mechanism and a workbench arranged on the base, a plurality of mounting seats detachably mounted on the workbench, an adjusting rod arranged on the mounting seat, a sliding rod slidingly connected to the adjusting rod, a threaded rod rotatably connected to the sliding rod, a sliding piece slidingly connected to the sliding rod and in threaded connection with the threaded rod, a pressing piece fixedly connected to the sliding piece, a sliding block rotatably and slidingly connected to the sliding piece, and cleaning pieces arranged in an annular array and hinged to the sliding block. The cleaning pieces are used for cleaning the welding slag on the surface of the adjacent pressing piece. When the pressing piece is retracted, the cleaning pieces are extended to clean the lower side of the pressing piece, thereby reducing the probability of the welding slag accumulated on the pressing piece to form a protrusion, and further reducing the probability of the welding piece to form a pit when the pressing piece presses the welding piece.

Description

Technical Field

[0001] This invention provides a visual welding robot, belonging to the field of welding equipment technology. Background Technology

[0002] Visualized welding robots, also known as vision-guided welding robots, are intelligent welding equipment that integrates a machine vision perception system into the traditional multi-axis welding robotic arm, giving the robot "visual eyes" and enabling it to autonomously identify workpieces, locate weld seams, track weld beads in real time, monitor the molten pool, and perform automatic quality inspection after welding.

[0003] When welding robots are welding workpieces, it is crucial to fix the workpieces in place to prevent them from shifting during the welding process and affecting the welding quality. Existing fixtures typically use threaded rods to adjust the position of the fixture and control whether it holds the workpiece. However, during the welding process, welding slag splatters everywhere and easily accumulates on the fixture surface, causing bulges. In subsequent use, this can result in pits on the surface of the workpiece, affecting its quality. Summary of the Invention

[0004] This invention provides a visual welding robot, which aims to overcome the shortcomings mentioned in the background art.

[0005] Technical Solution: A visual welding robot includes a base, on which a welding mechanism and a worktable are mounted. The worktable is detachably mounted with several mounting seats. Each mounting seat has an adjusting rod, which is slidably connected to a sliding rod. The sliding rod is rotatably connected to a threaded rod, which is threadedly connected to a sliding member that is slidably connected to the sliding rod. The sliding member is fixedly connected to a pressing member. The sliding member is rotatably and slidably connected to a sliding block. The sliding block is hinged to a ring-shaped array of cleaning members. The cleaning members are used to clean welding slag from the surfaces of adjacent pressing members. A torsion spring is provided between the cleaning members and adjacent sliding blocks.

[0006] Furthermore, more preferably, the cleaning component has beveled surfaces on both sides for removing welding slag from the surface of the pressing component.

[0007] Furthermore, more preferably, the cleaning member is fixedly connected to a steel brush, the steel brush being located between two inclined surfaces of adjacent cleaning members, the steel brush extending from adjacent cleaning members.

[0008] Furthermore, more preferably, the sliding block is slidably connected to mirror-distributed limiting posts, a first spring is provided between the limiting posts and the adjacent sliding blocks, and the sliding member is provided with an annular groove, the annular groove being used to limit the adjacent limiting posts.

[0009] Furthermore, more preferably, the threaded rod is slidably connected to a T-shaped rod that is fixedly connected to the adjacent sliding block.

[0010] Furthermore, more preferably, there is friction between the T-shaped rod and the adjacent threaded rod, and the resistance of this friction is greater than the friction between the limiting post and the sliding member, but less than the resistance of the annular groove to the limiting post.

[0011] Furthermore, more preferably, the pressing member and the adjacent sliding rod are jointly fixed with a protective sleeve, which is used to shield the welding slag.

[0012] Furthermore, more preferably, the threaded rod is fixed with a protective cover, which is used to cover the connection between the adjacent threaded rod and the adjacent sliding rod.

[0013] Furthermore, more preferably, the mounting base is slidably connected with mirror-distributed limiting members, and a second spring is provided between the limiting members and the adjacent mounting bases, and the limiting members and the worktable are mutually pressed together.

[0014] Furthermore, more preferably, the mounting base is slidably connected to the adjacent adjusting rod, the adjusting rod is slidably connected to a mirror-distributed limiting block, a third spring is provided between the limiting block and the adjacent adjusting rod, the mounting base is provided with mirror-distributed and equally spaced limiting grooves, and the limiting block is inserted into the adjacent limiting groove on the adjacent mounting base to limit the adjacent adjusting rod.

[0015] Beneficial effects: This invention allows the cleaning component to extend when the pressing component is retracted, thereby cleaning the lower side of the pressing component. This reduces the probability of welding slag accumulating on the pressing component and forming protrusions, and further reduces the probability of pits appearing on the weldment when the pressing component presses on it.

[0016] By covering the sliding rod and threaded rod, as well as the connection between the threaded rod and the sliding component, with protective sleeves and covers, welding slag is prevented from splashing onto the sliding rod and the connection between the sliding component and the threaded rod, thus preventing the threaded rod from becoming difficult to operate due to the influence of welding slag.

[0017] The worktable is clamped together by the mounting base and the limiting component to complete the installation, thereby improving the ease of operation of this device. The limiting block allows for height adjustment between the mounting base and the adjusting rod, thus accommodating more types of welding parts. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the threaded rod and sliding element of the present invention; Figure 3This is a three-dimensional structural cross-sectional view of the threaded rod and sliding element of the present invention; Figure 4 This is a three-dimensional structural cross-sectional view of the pressing component and sliding block of the present invention; Figure 5 This is a three-dimensional structural diagram of the cleaning component, torsion spring, and steel brush of the present invention; Figure 6 This is a three-dimensional structural diagram of the limiting member and the second spring of the present invention.

[0019] The components in the diagram are labeled as follows: 1-base, 2-welding mechanism, 3-workbench, 4-mounting seat, 5-adjusting rod, 6-sliding rod, 7-threaded rod, 8-sliding component, 801-annular groove, 9-pressing component, 10-sliding block, 11-cleaning component, 12-torsion spring, 13-steel brush, 14-limiting post, 15-first spring, 16-T-shaped rod, 17-protective sleeve, 18-protective cover, 19-limiting component, 20-second spring, 21-limiting block, 22-third spring. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection and application of the present invention.

[0021] Example 1 When using the fixtures of existing welding robots, welding slag accumulates on their surface, forming protrusions that affect the quality of the welded parts.

[0022] A visual welding robot, such as Figures 1-3 and Figure 5As shown, the system includes a base 1, on which a welding mechanism 2 and a worktable 3 are mounted. The welding mechanism 2 consists of a welding robotic arm, a control system, and a vision perception system. The control system receives visual coordinate data and performs image processing, point cloud computing, and weld AI recognition to adjust the robotic arm's posture and movement speed in real time for precise welding of the workpiece. The worktable 3 is detachably equipped with several mounting seats 4. An adjusting rod 5 is mounted on the upper side of the mounting seat 4. The adjusting rod 5 is slidably connected to a sliding rod 6. The adjusting rod 5 and the sliding rod 6 are combined in a T-shape. One end of the sliding rod 6 is rotatably connected to a threaded rod 7. The axis of the threaded rod 7 is parallel to the axis of the adjusting rod 5. Parallel, the lower side of the threaded rod 7 is threadedly connected to a sliding member 8, which is slidably connected to the sliding rod 6. A pressing member 9 is fixedly connected to the lower side of the sliding member 8, used to press the weldment and thus fix it. A sliding block 10 is rotatably and slidably connected within the sliding member 8. Two cleaning members 11, arranged in a circular array, are hinged to the sliding block 10. The cleaning members 11 are used to clean the welding slag from the surfaces of adjacent pressing members 9. A torsion spring 12 is provided between the cleaning member 11 and the adjacent sliding block 10. The torsion spring 12 is always in a charged state, ensuring the pressure between the two when the cleaning member 11 presses against the pressing member 9, thereby ensuring the cleaning effect of the cleaning member 11 on the pressing member 9. Both sides of the cleaning member 11 are provided with inclined surfaces for scraping off the welding slag from the surface of the pressing member 9, allowing the cleaning member 11 to clean the pressing member 9 regardless of its rotation direction. A steel brush 13 is fixedly connected to the cleaning component 11. The steel brush 13 is located between two inclined surfaces of the adjacent cleaning component 11. The steel brush 13 cleans the fine impurities attached to the surface of the pressing component 9. The steel brush 13 extends from the adjacent cleaning component 11, thereby ensuring the pressure between the steel brush 13 and the pressing component 9, and thus improving the cleaning effect of the steel brush 13.

[0023] like Figure 3 and Figure 4As shown, the sliding block 10 is slidably connected to two mirror-distributed limiting posts 14. Each limiting post 14 consists of a cylinder and a hemisphere. A first spring 15 is provided between the limiting post 14 and the adjacent sliding block 10. The first spring 15 is initially in a compressed state. The sliding member 8 is provided with an annular groove 801, which is used to limit the adjacent limiting post 14. The depth of the annular groove 801 is less than the radius of the hemisphere of the limiting post 14, so that the limiting post 14 can move out of the annular groove 801 when subjected to sufficient force. When the limiting post 14 is inserted into the annular groove 801, the sliding block 10 moves up and down with the sliding member 8. The threaded rod 7 is slidably connected to a T-shaped rod 16 fixed to the adjacent sliding block 10. The T-shaped rod 16 can slide along the threaded rod 7 and rotate with the threaded rod 7. There is friction between the T-shaped rod 16 and the adjacent threaded rod 7. The resistance of this friction is greater than the friction between the limiting post 14 and the sliding member 8, but less than the resistance of the annular groove 801 to the limiting post 14. As a result, when the sliding member 8 initially moves, the sliding block 10 will not move with the sliding member 8. After the limiting post 14 is inserted into the annular groove 801, the sliding block 10 moves up and down with the sliding member 8, but the sliding block 10 can still rotate freely.

[0024] When using this device for welding, first, install the mounting base 4 on the corresponding position on the workbench 3 according to the shape of the workpiece. Then, rotate the threaded rod 7 to move the sliding member 8 upward and retract it. As the sliding member 8 moves upward, the cleaning member 11 extends from the pressing member 9. At the same time, the cleaning member 11 rotates under the action of the adjacent torsion spring 12 until the cleaning member 11 is attached to the lower side of the pressing member 9. At this time, the limiting post 14 is aligned with the adjacent annular groove 801. The limiting post 14 is inserted into the adjacent first spring 15 under the action of the first spring 15. The annular groove 801 causes the sliding block 10 to move upward with the sliding member 8. During this process, the threaded rod 7 drives the sliding block 10 to rotate via the T-shaped rod 16. The sliding block 10 drives the two cleaning members 11 on it to rotate, thereby causing the cleaning members 11 to remove impurities attached to the lower side of the pressing member 9. At the same time, the cleaning members 11 drive the steel brush 13 to rotate, and the steel brush 13 brushes the lower side of the pressing member 9. After that, the weldment is placed on the worktable 3, and then the threaded rod 7 is rotated in the opposite direction. The threaded rod 7 drives the adjacent sliding member 8 to move upward. The component moves downwards, during which the cleaning component 11 and the steel brush 13 continue to clean the lower side of the pressing component 9 until the T-shaped rod 16 moves to its limit distance and is blocked by the threaded rod 7. At this time, the sliding component 8 continues to move downwards, and the annular groove 801 presses the limiting post 14, causing the limiting post 14 to retract and compress the adjacent first spring 15. At the same time, the pressing component 9 presses the cleaning component 11, causing the cleaning component 11 to retract again, until the pressing component 9 presses onto the weldment, thereby completing the fixation of the weldment. Welding can then be carried out. During welding, firstly through The visual perception system uploads image information to the control system, which then performs image processing, point cloud computing, and weld seam AI recognition to adjust the robotic arm's posture and movement speed in real time, causing the welding wire to move along the weld seam for precise welding. After welding, the above process is repeated to clean the welding slag on the surface of the pressing part 9, ensuring the flatness of the lower side of the pressing part 9 and reducing the probability of pits appearing on the surface of the weld when the pressing part 9 presses the weld. This ensures the flatness of the weld.

[0025] Example 2 When the existing fixture is in use, the spatter from welding slag will affect the operation of its threaded rod, causing the fixture to malfunction.

[0026] Based on Example 1, such as Figure 1 and Figure 2As shown, the pressing component 9 and the adjacent sliding rod 6 are jointly fixed with a protective sleeve 17. The protective sleeve 17 is made of an elastic, high-temperature resistant material, such as high-temperature resistant silicone rubber cloth. The protective sleeve 17 is used to shield the welding slag, thereby preventing the welding slag from falling onto the threaded rod 7 and ensuring the normal use of the threaded rod 7. The threaded rod 7 is fixed with a protective cover 18. The protective cover 18 is used to shield the connection between the adjacent threaded rod 7 and the adjacent sliding rod 6. The protective cover 18 is made of a high-temperature resistant material, thereby preventing welding slag from falling onto the rotational connection between the threaded rod 7 and the sliding rod 6 and ensuring the normal use of the threaded rod 7 and the sliding rod 6.

[0027] Example 3 The existing fixtures are fixed with bolts during installation, which is an extremely cumbersome operation and results in a long time required for welding the workpieces.

[0028] Based on Example 1, such as Figure 2 and Figure 6 As shown, the mounting base 4 is slidably connected to two mirror-distributed limiting members 19. A second spring 20 is provided between the limiting member 19 and the adjacent mounting base 4. The mounting base 4 has an annular protrusion. The distance between the annular protrusion on the mounting base 4 and the adjacent limiting member 19 is equal to the thickness of the upper side of the worktable 3. By pressing the annular protrusion on the mounting base 4 and the limiting member 19 together with the worktable 3, the mounting base 4 is stuck on the worktable 3, realizing the quick installation and removal of the mounting base 4, thereby saving the preparation time of the fixture before welding and improving the welding efficiency.

[0029] like Figure 2 and Figure 6 As shown, the mounting base 4 is slidably connected to the adjacent adjusting rod 5. The adjusting rod 5 is slidably connected to two mirror-distributed limiting blocks 21. Each limiting block 21 consists of a wedge-shaped block and a round rod. The round rod of the limiting block 21 passes through the adjacent adjusting rod 5. A third spring 22 is provided between the limiting block 21 and the adjacent adjusting rod 5. The mounting base 4 is provided with mirror-distributed and equally spaced limiting grooves. The limiting block 21 is inserted into the adjacent limiting groove on the adjacent mounting base 4 to limit the adjacent adjusting rod 5, thereby realizing the adjustment of the height of the adjusting rod 5 to adapt to different types of welding parts.

[0030] When installing the mounting base 4, insert the mounting base 4 into the worktable 3. The worktable 3 presses against the corresponding limiting member 19, causing the limiting member 19 to move into the mounting base 4 and compress the adjacent second spring 20 until the limiting member 19 passes through the worktable 3. Under the action of the adjacent second spring 20, the limiting member 19 extends out, thus securing the mounting base 4 onto the worktable 3 under the combined action of the limiting member 19 and the annular protrusion on the mounting base 4. For disassembly, simply press the two limiting members 19 to retract them into the mounting base 4. Then, adjust the height of the adjusting rod 5 as needed. To lower it, simply... Press down on the adjusting rod 5. At this time, the limiting block 21 is squeezed into the adjusting rod 5 by the mounting base 4, and the adjacent third spring 22 is compressed until the adjusting rod 5 is adjusted to the corresponding position. Under the action of the adjacent third spring 22, the limiting block 21 is inserted into the corresponding limiting groove of the mounting base 4. When adjusting the adjusting rod 5 to a higher position, simply pull the limiting block 21 to separate the limiting block 21 from the limiting groove of the mounting base 4, and then move the adjusting rod 5 upward. After reaching the target height, release the limiting block 21 so that the limiting block 21 is inserted into the corresponding limiting groove on the mounting base 4 under the action of the adjacent third spring 22.

[0031] The above embodiments are provided for those skilled in the art to implement or use the present invention. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments.

Claims

1. A visual welding robot, comprising a base (1), wherein a welding mechanism (2) and a worktable (3) are disposed on the base (1), characterized in that, It also includes several mounting seats (4), all of which are detachable and can be installed on the workbench (3). Each mounting seat (4) is provided with an adjusting rod (5), which is slidably connected to a sliding rod (6). The sliding rod (6) is rotatably connected to a threaded rod (7). The threaded rod (7) is threadedly connected to a sliding member (8) that is slidably connected to the sliding rod (6). The sliding member (8) is fixedly connected to a pressing member (9). The sliding member (8) is rotatably and slidably connected to a sliding block (10). The sliding block (10) is hinged to a cleaning member (11) distributed in a ring array. The cleaning member (11) is used to clean the welding slag on the surface of the adjacent pressing member (9). A torsion spring (12) is provided between the cleaning member (11) and the adjacent sliding block (10).

2. A visual welding robot according to claim 1, characterized in that, Both sides of the cleaning component (11) are provided with inclined surfaces for removing welding slag from the surface of the pressing component (9).

3. A visual welding robot according to claim 1, characterized in that, The cleaning component (11) is fixedly connected to a steel brush (13), which is located between two inclined surfaces of an adjacent cleaning component (11) and extends from the adjacent cleaning component (11).

4. A visual welding robot according to claim 3, characterized in that, The sliding block (10) is slidably connected to a mirror-distributed limiting post (14). A first spring (15) is provided between the limiting post (14) and the adjacent sliding block (10). The sliding member (8) is provided with an annular groove (801), which is used to limit the adjacent limiting post (14).

5. A visual welding robot according to claim 4, characterized in that, The threaded rod (7) is slidably connected to a T-shaped rod (16) that is fixed to the adjacent sliding block (10).

6. A visual welding robot according to claim 5, characterized in that, The T-shaped rod (16) has friction with the adjacent threaded rod (7). The resistance of this friction is greater than the friction between the limiting post (14) and the sliding member (8), but less than the resistance of the annular groove (801) to the limiting post (14).

7. A visual welding robot according to claim 1, characterized in that, The pressing member (9) and the adjacent sliding rod (6) are jointly fixed with a protective sleeve (17), which is used to shield the welding slag.

8. A visual welding robot according to claim 7, characterized in that, The threaded rod (7) is fixedly connected to a protective cover (18), which is used to cover the connection between the adjacent threaded rod (7) and the adjacent sliding rod (6).

9. A visual welding robot according to claim 1, characterized in that, The mounting base (4) is slidably connected to a mirror-distributed limiting member (19), and a second spring (20) is provided between the limiting member (19) and the adjacent mounting base (4), and the limiting member (19) and the worktable (3) are pressed against each other.

10. A visual welding robot according to claim 9, characterized in that, The mounting base (4) is slidably connected to the adjacent adjusting rod (5). The adjusting rod (5) is slidably connected to a mirror-distributed limiting block (21). A third spring (22) is provided between the limiting block (21) and the adjacent adjusting rod (5). The mounting base (4) is provided with mirror-distributed and equally spaced limiting grooves. The limiting block (21) is inserted into the adjacent limiting groove on the adjacent mounting base (4) to limit the adjacent adjusting rod (5).

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