A mold weld seam tracking welding and sandblasting robot integrated with visual positioning

Abstract

The present application relates to the field of welding robots, in particular to a die welding seam tracking and welding sand blasting robot integrated with visual positioning, comprising a fixed seat, a plurality of lens assemblies and a connecting seat; the fixed seat is internally through from top to bottom, and the upper half of the through part is provided with an adapter seat for fixedly mounting a welding head, and the welding end of the welding head is located directly below the fixed seat; the plurality of lens assemblies are arranged in a ring array around the welding head, the lens assemblies are located in the interior of the fixed seat, and the lens assemblies are opposite to the welding end of the welding head; the bottom end of the connecting seat is detachably connected to the top end of the fixed seat, the top end is connected to a robot hand, and the middle section of the connecting seat is provided with a plurality of connecting pieces for adjusting the height of one side or multiple sides of the outer ring of the connecting seat, so as to adjust the angle of the welding head. The lens ring array arrangement covers the whole welding end, and completely eliminates the welding seam identification blind area.

Description

Technical Field

[0001] This invention relates to the field of welding robots, and in particular to a mold weld seam tracking welding sandblasting robot with integrated vision positioning. Background Technology

[0002] Traditional mold welding robots generally adopt a single-sided vision positioning scheme, which has a limited field of view and is prone to blind spots in weld seam recognition, making it difficult to adapt to the tracking requirements of complex curved surface weld seams in molds. The adjustment of the welding head angle depends on the overall posture adjustment of the robotic arm, which is time-consuming and has poor precision, and cannot meet the fine angle control requirements of mold welding.

[0003] Welding fumes and metal spatter can easily obstruct the lens, causing visual tracking to be interrupted and positioning to be off. The lens and welding head have low integration, making installation and disassembly cumbersome and lacking flexibility in adapting to different mold specifications.

[0004] Meanwhile, the fixed structure has poor vibration resistance, and welding vibration can easily cause positioning deviation, making it difficult to achieve the high standards of mold processing in terms of overall welding accuracy and stability. Summary of the Invention

[0005] Therefore, it is necessary to provide a mold weld seam tracking welding sandblasting robot with integrated vision positioning to address the above-mentioned technical problems. The lens is arranged in a ring array to cover the entire welding end, completely eliminating blind spots in weld seam recognition and significantly improving positioning and tracking accuracy.

[0006] This invention provides a mold weld seam tracking welding sandblasting robot with integrated vision positioning, comprising: The fixed base has a through-hole design, and an adapter is installed in the upper part of the through-hole. The adapter is used to fix the welding head, and the welding end of the welding head is located directly below the fixed base. A sandblasting component is provided on the outside of the fixed base. The sandblasting end of the sandblasting component is used to sandblast the weld joint, thereby making the surface of the weld joint smooth and clean. Multiple lens assemblies are arranged in a circular array around the welding head, the lens assemblies are located inside the fixing base, and the lens assemblies are directly opposite the welding end of the welding head; The connecting seat has its bottom end detachably connected to the top end of the fixed seat, and the top end is connected to a robot arm. The middle section of the connecting seat is provided with multiple connecting parts, which are used to adjust the height of one or more sides of the outer ring of the connecting seat, thereby realizing the adjustment of the welding head angle.

[0007] In one embodiment, the fixing base includes a first fixing ring and a second fixing ring; the bottom end of the first fixing ring is connected to the top end of the second fixing ring, the inner diameter of the first fixing ring is larger than the inner diameter of the second fixing ring, the inner ring of the first fixing ring is used to install the adapter, the bottom end of the adapter abuts against the top end of the second fixing ring, and the inner ring of the adapter is smaller than the inner diameter of the second fixing ring.

[0008] In one embodiment, the outer ring of the second fixing ring is provided with a plurality of arc-shaped plates arranged in a ring array. The two curved ends of the arc-shaped plates extend through to the inner ring of the second fixing ring and are connected to the second fixing ring. The inner ring of the adapter seat is used to install the welding head.

[0009] In one embodiment, the fixing base further includes a third fixing ring and a first annular plate; the inner diameter of the third fixing ring is larger than the outer diameter of the first fixing ring and the second fixing ring, the bottom end of the third fixing ring is connected to the bottom end of the second fixing ring through the first annular plate, the middle part of the first annular plate is bent and protrudes downward, and a plurality of first mounting holes are provided in a ring array on the first annular plate, the first mounting holes being inclined toward the welding end of the welding head.

[0010] In one embodiment, the lowest point of the downward protrusion of the first annular plate is provided with multiple sets of through holes, which are arranged in a ring array and are staggered with multiple first mounting holes.

[0011] In one embodiment, the surface of the third fixing ring has multiple openings, the upper side of which extends through the top end of the third fixing ring, and the openings are opposite to the first mounting hole.

[0012] In one embodiment, multiple bayonets are provided on both sides of the opening, and the multiple bayonets are distributed at intervals along the vertical direction, with the bayonets on adjacent sides of two openings located at the same horizontal height.

[0013] In one embodiment, the connector includes a second annular plate, a fixed plate, and the connector; the second annular plate and the fixed plate are connected by a plurality of connectors arranged in a ring array, the inner ring of the second annular plate is attached to the outer ring of the first fixed ring, the bottom end of the second annular plate is attached to the top end of the third fixed ring, and the connector is deformable.

[0014] In one embodiment, the connector includes a straight plate and a curved plate; the two ends of the curved plate are respectively connected to two straight plates, and the two straight plates are respectively connected to the second annular plate and the fixed plate. Two adjustment holes are opened longitudinally and coaxially on the curved plate, and an adjustment screw is provided on one side of the curved plate. The two ends of the adjustment screw are respectively installed in the two adjustment holes.

[0015] In one embodiment, all of the bending plates are bent toward the central axis of the second annular plate.

[0016] The aforementioned integrated vision-positioning mold weld seam tracking welding sandblasting robot has an adapter fixedly installed in the upper half of the fixed base. The welding head is positioned through the adapter, with the welding end directly below the fixed base. Multiple lens assemblies are arranged in a ring array within the fixed base, centered on the welding head, with the lens acquisition end facing the welding end of the welding head. A robotic arm is connected to the top of the connecting base, and its bottom end is detachably assembled with the top of the fixed base. The ring array of lens assemblies synchronously acquires full-area images of the mold weld seam and transmits them to the control system in real time, completing the accurate identification and tracking of the weld seam position and trajectory. By manipulating multiple connectors in the middle section of the connecting base, the height of one or more sides of the outer ring of the connecting base can be adjusted individually or in combination. The deformation of the connectors drives the fixed base and welding head to deflect synchronously, achieving precise adjustment of the welding angle. The robotic arm drives the entire mechanism to move, the vision system corrects the weld seam trajectory in real time, and the welding head completes the mold weld seam welding at the set angle.

[0017] The lens is arranged in a ring array, covering the entire welding end and completely eliminating blind spots in weld seam recognition, significantly improving positioning and tracking accuracy. The angle can be independently fine-tuned through the connector, eliminating the need to adjust the overall posture of the robot arm, resulting in fast response and high adjustment precision. The lens is built into the fixed base, effectively blocking welding fumes and spatter interference, ensuring stable operation of the vision system. The connector and fixed base are detachably connected, simplifying assembly and maintenance processes and adapting to different mold welding scenarios. The integrated structural design reduces the impact of welding vibration on positioning, ensuring the stability of welding operations. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A three-dimensional structural schematic diagram of the mold weld seam tracking welding robot provided by the present invention; Figure 2 A cross-sectional structural schematic diagram of the mold weld seam tracking welding robot provided by the present invention; Figure 3 A three-dimensional structural diagram of the fixing base provided by the present invention; Figure 4 A cross-sectional structural diagram of the fixing base provided by the present invention; Figure 5 A schematic diagram of the planar structure of the fixing base provided by the present invention; Figure 6This is a cross-sectional structural diagram of the connector provided by the present invention.

[0020] Figure label: 100. Fixing base; 110. First fixing ring; 120. Second fixing ring; 130. Arc-shaped plate; 140. Third fixing ring; 141. Opening; 142. Bayonet; 150. First annular plate; 151. Through hole; 152. First mounting hole; 200. Adapter; 300. Welding head; 400. Lens assembly; 500. Connecting base; 510. Second annular plate; 520. Connector; 521. Straight plate; 522. Bent plate; 5221. Adjustment hole; 530. Fixing plate; 531. Second mounting hole; 600. Adjustment screw. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The following is combined Figures 1 to 6 This invention describes a mold weld seam tracking welding sandblasting robot with integrated vision positioning.

[0023] like Figure 1 and Figure 2 As shown, in one embodiment, a mold weld seam tracking welding sandblasting robot with integrated vision positioning includes a fixed base 100, multiple lens assemblies 400, and a connecting base 500. The fixed base 100 is vertically connected, and an adapter 200 is installed on the upper half of the connection. The adapter 200 is used to fix a welding head 300, and the welding end of the welding head 300 is located directly below the fixed base 100. A sandblasting component is provided on the outside of the fixed base 100, and the sandblasting end of the sandblasting component is used to sandblast the weld joint, thereby smoothing the surface of the weld joint. Cleaning process; multiple lens assemblies 400 are arranged in a ring array around the welding head 300, the lens assemblies 400 are located inside the fixing base 100, and the lens assemblies 400 are directly opposite the welding end of the welding head 300; the bottom end of the connecting base 500 is detachably connected to the top end of the fixing base 100, and the top end is connected to a robot arm; the middle section of the connecting base 500 is provided with multiple connectors 520, the connectors 520 are used to adjust the height of one or more sides of the outer ring of the connecting base 500, thereby realizing the adjustment of the angle of the welding head 300.

[0024] The aforementioned integrated vision-positioning mold weld seam tracking welding sandblasting robot has an adapter 200 fixedly installed inside the upper half of the fixed base 100. The welding head 300 is positioned via the adapter 200, with the welding end directly below the fixed base 100. Multiple lens assemblies 400 are arranged in a circular array around the welding head 300 within the fixed base 100, with the lens acquisition end facing the welding end of the welding head 300. The top of the connecting base 500 is connected to the robotic arm, and its bottom is detachably assembled with the top of the fixed base 100. The circular array of lens assemblies 400 synchronously acquires full-area images of the mold weld seam and transmits them in real time to... The control system accurately identifies and tracks the weld position and trajectory; it controls multiple connectors 520 in the middle section of the connector 500 to adjust the height of one or more sides of the outer ring of the connector 500 individually or in combination; the deformation of the connectors 520 drives the fixed seat 100 and the welding head 300 to deflect synchronously, thereby achieving precise adjustment of the welding angle; the robotic arm drives the overall mechanism to move, the vision system corrects the weld trajectory in real time, the welding head 300 completes the mold weld welding at the set angle, and the sandblasting component ensures that any impurities that may exist on the surface of the weld and the surface of the welded parts can be completely removed.

[0025] The lens is arranged in a ring array, covering the entire welding end area, completely eliminating blind spots in weld seam recognition and significantly improving positioning and tracking accuracy. The angle can be independently fine-tuned through the connector 520, without the need to adjust the overall posture of the robot arm, resulting in fast response and high adjustment precision. The lens is built into the fixed base 100, effectively blocking welding fumes and spatter interference, ensuring stable operation of the vision system. The connector 500 and the fixed base 100 are detachably connected, simplifying assembly and maintenance processes and adapting to different mold welding scenarios. The integrated structural design reduces the impact of welding vibration on positioning and ensures the stability of welding operations.

[0026] like Figures 3 to 5 As shown, in one embodiment, the fixing base 100 includes a first fixing ring 110 and a second fixing ring 120; the bottom end of the first fixing ring 110 is connected to the top end of the second fixing ring 120, the inner diameter of the first fixing ring 110 is larger than the inner diameter of the second fixing ring 120, the inner ring of the first fixing ring 110 is used to install the adapter 200, the bottom end of the adapter 200 abuts against the top end of the second fixing ring 120, and the inner ring of the adapter 200 is smaller than the inner diameter of the second fixing ring 120.

[0027] Specifically, the fixed seat 100 adopts a stepped structure of a first fixed ring 110 and a second fixed ring 120. The inner diameter of the first fixed ring 110 is larger to form an installation cavity. The bottom end of the adapter 200 abuts against the top end of the second fixed ring 120 to form an axial limit. The inner circle of the adapter 200 is smaller than the inner diameter of the second fixed ring 120 to achieve radial positioning.

[0028] The welding head 300 has high coaxiality, eliminating axial movement and radial offset; the layered structure facilitates the disassembly and assembly of the adapter 200, improving assembly efficiency.

[0029] In one embodiment, the outer ring of the second fixing ring 120 is provided with a plurality of arc-shaped plates 130 arranged in a ring array. The two curved ends of the arc-shaped plates 130 extend through to the inner ring of the second fixing ring 120 and are connected to the second fixing ring 120. The inner ring of the adapter 200 is used to install the welding head 300.

[0030] Specifically, the outer ring of the second fixing ring 120 is arranged with an arc-shaped plate 130. The two ends of the arc-shaped plate 130 extend to the inner ring and are fixedly connected to the fixing ring. The arc-shaped structure disperses the welding vibration stress.

[0031] The vibration resistance of the mounting base 100 is significantly enhanced, ensuring the stability of the welding head 300 and the lens assembly 400; the arc-shaped structure does not obstruct the lens field of view, balancing rigidity and visual transparency.

[0032] In one embodiment, the fixing base 100 further includes a third fixing ring 140 and a first annular plate 150; the inner diameter of the third fixing ring 140 is larger than the outer diameter of the first fixing ring 110 and the second fixing ring 120, the bottom end of the third fixing ring 140 is connected to the bottom end of the second fixing ring 120 through the first annular plate 150, the middle part of the first annular plate 150 is bent and protrudes downward, and a plurality of first mounting holes 152 are provided in a ring array on the first annular plate 150, the first mounting holes 152 are inclined toward the welding end of the welding head 300.

[0033] Specifically, the third fixing ring 140 wraps around the first and second fixing rings to form an outer protection, the middle part of the first annular plate 150 protrudes downward to provide an inclined mounting position for the lens assembly 400, and the first mounting hole 152 of the annular array is tilted towards the welding end to ensure accurate lens acquisition angle.

[0034] The lens assembly is precisely aligned with the welding end at a 400° installation angle, allowing visual acquisition to focus on the core area of ​​the weld; the outer structure further blocks dust and smoke splashes, extending the lens's service life.

[0035] In one embodiment, the lowest point of the downward protrusion of the first annular plate 150 is provided with multiple sets of through holes 151, which are arranged in a ring array and are staggered with multiple first mounting holes 152.

[0036] Specifically, an annular array of through holes 151 is formed at the lowest point of the first annular plate 150. The through holes 151 and the first mounting holes 152 are staggered to form a smoke exhaust and heat dissipation channel.

[0037] Rapidly removes welding fumes, reducing lens contamination; accelerates structural heat dissipation, preventing high temperatures from affecting lens accuracy; staggered layout does not reduce structural strength.

[0038] In one embodiment, the surface of the third fixing ring 140 is provided with a plurality of openings 141, the upper side of the openings 141 extends through the top end of the third fixing ring 140, and the openings 141 are opposite to the first mounting hole 152.

[0039] Specifically, the third fixing ring 140 has an opening 141 corresponding to the first mounting hole 152, with the top end of the opening 141 extending through to form an operation channel for lens disassembly, assembly, and adjustment.

[0040] The lens assembly 400 can be quickly installed and calibrated without disassembling the overall structure, greatly improving maintenance efficiency.

[0041] In one embodiment, multiple bayonets 142 are provided on both sides of the opening, and the multiple bayonets 142 are distributed at intervals along the vertical direction, with the bayonets 142 on the adjacent side of two openings 141 located at the same horizontal height.

[0042] Specifically, the opening 141 has vertically spaced bayonets 142 on both sides, with adjacent openings 141 and bayonets 142 at the same horizontal height, providing hierarchical positioning positions for the lens and auxiliary components.

[0043] The lens mounting height can be flexibly adjusted to accommodate different specifications of welding heads 300, improving the versatility of the device.

[0044] It should be noted that the structure of the sandblasted part adopts the existing sandblasting equipment, and the sandblasting pipe is located outside the third fixing ring 140. Because it is existing equipment, it is not shown in the attached drawings.

[0045] like Figure 6 As shown, in one embodiment, the connecting seat 500 includes a second annular plate 510, a fixing plate 530, and the connecting member 520; the second annular plate 510 and the fixing plate 530 are connected by a plurality of connecting members 520 arranged in a ring array, the inner ring of the second annular plate 510 is attached to the outer ring of the first fixing ring 110, the bottom end of the second annular plate 510 is attached to the top end of the third fixing ring 140, and the connecting member 520 is deformable.

[0046] Specifically, the connector 500 is composed of a second annular plate 510, a fixing plate 530 and an annular array connector 520. The connector 520 can be elastically deformed, and the second annular plate 510 fits against the first and third fixing rings to ensure the connection is sealed.

[0047] When adjusting the angle, the connector 520 is evenly stressed, and the adjustment process is smooth and without jamming; the connection is tight and without looseness, avoiding welding errors caused by angle deviation.

[0048] The fixing plate 530 has multiple second mounting holes 531 for connecting the robot arm.

[0049] In one embodiment, the connector 520 includes a straight plate 521 and a curved plate 522; the two ends of the curved plate 522 are respectively connected to two straight plates 521, and the two straight plates 521 are respectively connected to the second annular plate 510 and the fixed plate 530. Two adjusting holes 5221 are longitudinally coaxially formed on the curved plate 522, and an adjusting screw 600 is provided on one side of the curved plate 522. The two ends of the adjusting screw 600 are respectively installed in the two adjusting holes 5221.

[0050] Specifically, the connector 520 consists of a straight plate 521 and a bent plate 522. The straight plate 521 provides a fixed connection, the bent plate 522 provides deformation space, and the adjusting screw 600 controls the degree of deformation of the bent plate 522 through the adjusting hole 5221.

[0051] The screw has high adjustment precision and can quantitatively control the welding angle; the deformation structure is highly durable and will not fail due to fatigue after long-term use.

[0052] In one embodiment, the plurality of the bent plates 522 are all bent toward the central axis of the second annular plate 510.

[0053] Specifically, the bending plate 522 bends towards the central axis of the second annular plate 510, and during adjustment, the deformation force is concentrated towards the center to avoid interference from lateral force components.

[0054] The welding head has a regular 300° deflection trajectory with no lateral offset, further improving the accuracy of welding angle control.

[0055] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A mold weld seam tracking welding sandblasting robot with integrated vision positioning, characterized in that, include: The fixed base has a through-hole design, and an adapter is installed in the upper part of the through-hole. The adapter is used to fix the welding head, and the welding end of the welding head is located directly below the fixed base. A sandblasting component is provided on the outside of the fixed base. The sandblasting end of the sandblasting component is used to sandblast the weld joint, thereby making the surface of the weld joint smooth and clean. Multiple lens assemblies are arranged in a circular array around the welding head, the lens assemblies are located inside the fixing base, and the lens assemblies are directly opposite the welding end of the welding head; The connecting seat has its bottom end detachably connected to the top end of the fixed seat, and the top end is connected to a robot arm. The middle section of the connecting seat is provided with multiple connecting parts, which are used to adjust the height of one or more sides of the outer ring of the connecting seat, thereby realizing the adjustment of the welding head angle.

2. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 1, characterized in that, The fixing base includes a first fixing ring and a second fixing ring; the bottom end of the first fixing ring is connected to the top end of the second fixing ring, the inner diameter of the first fixing ring is larger than the inner diameter of the second fixing ring, the inner ring of the first fixing ring is used to install the adapter, the bottom end of the adapter abuts against the top end of the second fixing ring, and the inner ring of the adapter is smaller than the inner diameter of the second fixing ring.

3. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 2, characterized in that, The outer ring of the second fixing ring is arranged in a ring array with multiple arc-shaped plates. The two curved ends of the arc-shaped plates extend through the inner ring of the second fixing ring and are connected to the second fixing ring. The inner ring of the adapter seat is used to install the welding head.

4. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 3, characterized in that, The fixing base further includes a third fixing ring and a first annular plate; the inner diameter of the third fixing ring is larger than the outer diameter of the first fixing ring and the second fixing ring, the bottom end of the third fixing ring is connected to the bottom end of the second fixing ring through the first annular plate, the middle part of the first annular plate is bent and protrudes downward, and a plurality of first mounting holes are provided in a ring array on the first annular plate, the first mounting holes being inclined toward the welding end of the welding head.

5. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 4, characterized in that, The lowest point of the downward protrusion of the first annular plate has multiple sets of through holes, which are arranged in a ring array and are staggered with multiple first mounting holes.

6. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 5, characterized in that, The surface of the third fixing ring has multiple openings, the upper side of which extends through the top end of the third fixing ring, and the openings are opposite to the first mounting holes.

7. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 6, characterized in that, Multiple slots are provided on both sides of the opening, and the multiple slots are distributed at intervals along the vertical direction. The slots on the adjacent sides of two openings are located at the same horizontal height.

8. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 7, characterized in that, The connecting seat includes a second annular plate, a fixing plate, and the connecting member; the second annular plate and the fixing plate are connected by a plurality of connecting members arranged in a ring array, the inner ring of the second annular plate is attached to the outer ring of the first fixing ring, the bottom end of the second annular plate is attached to the top end of the third fixing ring, and the connecting member can deform.

9. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 8, characterized in that, The connector includes a straight plate and a curved plate; the two ends of the curved plate are respectively connected to two straight plates, and the two straight plates are respectively connected to the second annular plate and the fixed plate. Two adjustment holes are opened longitudinally and coaxially on the curved plate, and an adjustment screw is provided on one side of the curved plate. The two ends of the adjustment screw are respectively installed in the two adjustment holes.

10. The mold weld seam tracking welding sandblasting robot with integrated vision positioning according to claim 9, characterized in that, All of the aforementioned bent plates are bent toward the central axis of the second annular plate.

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