An automatic welding and automatic repair welding device based on robot vision

Abstract

This invention relates to the field of welding equipment technology and discloses an automatic welding and automatic repair welding device based on robot vision. The device includes a support frame, a welding section, a moving section, and a fixing section. The welding section is located on the top of the support frame. The moving section is located on the welding section. The fixing section is located on the front of the support frame. The welding section includes a welding assembly and a control assembly. Both the welding assembly and the control assembly are located on the support frame. The welding assembly includes a crossbeam, a guide rail, a support frame, a slide, a welding torch mounting plate, a welding torch, a lifting motor, and a screw. The crossbeam is fixedly connected to the front of the support frame, and the guide rail is fixedly connected to the front of the crossbeam. This invention, by setting up a welding section, solves the problem that current welding operations mostly rely on robotic arms for automated welding, where changes in the position of parts can cause welding defects such as incomplete welds and weak welds, thus affecting the welding quality and structural strength of the workpiece.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, specifically to an automatic welding and automatic repair welding device based on robot vision. Background Technology

[0002] The automatic welding and automatic repair welding device based on robot vision consists of an industrial robot, a vision acquisition unit, a welding execution mechanism, and a control system. The device acquires weld images through a vision camera, identifies the weld position, bevel shape, and defect information through algorithms, and automatically plans the welding path. After welding, it performs visual inspection again to identify defects such as porosity and incomplete penetration, autonomously locates the defect area, and starts the repair welding operation. It does not require repeated manual teaching, can adapt to workpiece clamping deviations and weld deformation, reduces manual intervention, improves welding accuracy, and reduces the problems of missed welds and missing welds. It is suitable for continuous welding and defect repair of batch workpieces.

[0003] However, most welding operations are currently automated using robotic arms. When the position of the parts changes, welding defects such as incomplete welding and incomplete welding will occur, which will affect the welding quality and structural strength of the workpiece. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic welding and automatic repair welding device based on robot vision. By setting up a welding section, it solves the problem that most welding operations currently rely on robotic arms for automated welding. When the position of the parts changes, welding defects such as incomplete welding and incomplete welding will occur, thereby affecting the welding quality and structural strength of the workpiece.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to an automated welding and repair welding device based on robot vision, comprising a support frame, and further comprising: a welding section, a moving section, and a fixing section; the welding section is disposed on the top of the support frame; the moving section is disposed on the welding section; the fixing section is disposed on the front side of the support frame; the welding section includes a welding assembly and a control assembly; both the welding assembly and the control assembly are disposed on the support frame; the welding assembly includes a crossbeam, a guide rail, a support frame, a slide, a welding torch mounting plate, a welding torch, a lifting motor, and a screw; the crossbeam is fixedly connected to the front side of the support frame, and the guide rail is fixedly connected to the front side of the crossbeam. 1. A bracket is slidably connected to the outer surface of the guide rail 1. A slide is fixedly connected to the front of the bracket 1. A welding gun mounting plate is slidably connected to the outer wall of the slide. A welding gun is provided on the front of the welding gun mounting plate. A screw is rotatably connected to the slide. The screw passes through the welding gun mounting plate. The outer wall of the screw is threadedly connected to the welding gun mounting plate. A driving component is provided on the screw. The top end of the screw extends through the slide. The driving component includes a lifting motor. The lifting motor is fixedly connected to the top of the slide. The output shaft of the lifting motor is fixedly connected to the screw 1 through a coupling.

[0006] Furthermore, the moving part includes a moving component and a driving component; the moving component is disposed on the top of the crossbeam; the driving component is disposed on the moving component.

[0007] Furthermore, the control component includes a camera and limiters, with the camera fixedly connected to the carriage and two limiters provided on the front of the crossbeam.

[0008] Furthermore, the moving component includes a second slide rail, a second bracket, a fixed frame, a tripod, a first rotating shaft, a gear, a rack, and a first synchronous wheel. The top of the crossbeam is fixedly connected to the second slide rail, and the second bracket is slidably connected to the outer surface of the second slide rail. The front of the second bracket is fixedly connected to the first bracket, and the bottom of the second bracket is fixedly connected to the tripod. The first rotating shaft is rotatably connected to the tripod, and the top of the first rotating shaft extends through the outside of the second bracket. A gear is fixedly connected to the middle outer wall of the first rotating shaft, and a rack is fixedly connected to the top of the bracket. The rack meshes with the gear. The first synchronous wheel is fixedly connected to the top outer wall of the first rotating shaft. A support member is provided on the top of the second bracket, and the support member includes a fixed frame. The fixed frame is fixedly connected to the top of the second bracket, and the fixed frame is in contact with the welding torch mounting plate.

[0009] Furthermore, the drive assembly includes a mobile motor, a second rotating shaft, a second synchronous pulley, and a synchronous belt. The mobile motor is fixedly connected to the bottom of the second bracket. The output shaft of the mobile motor is fixedly connected to the second rotating shaft via a coupling. The second rotating shaft extends through the outside of the second bracket. The second synchronous pulley is fixedly connected to the top outer wall of the second rotating shaft. The outer walls of the second synchronous pulley and the first synchronous pulley are wound with a synchronous belt. The outer wall of the second rotating shaft is rotatably connected to the second bracket.

[0010] Furthermore, the fixing part includes a clamping module and a workpiece, the clamping module is provided on the front side of the bracket, and the workpiece is provided on the top of the clamping module.

[0011] The present invention has the following beneficial effects: 1. The welding unit of this invention, as the core operating body of this vision-based automatic welding and repair device, is a key functional module for achieving standardized welding and repair of workpieces. It solves the quality defects such as incomplete welding and false welding caused by workpiece position displacement in traditional robotic welding, significantly improving the accuracy and stability of welding operations. This component relies on the integrated welding and control components to construct a visualized and controllable welding operation system, overcoming the drawbacks of traditional welding equipment's single operation and lack of real-time monitoring. The welding components provide a stable support and adjustment base structure for the welding torch, enabling fine-tuning of the welding torch position to adapt to the welding height and operation point requirements of various workpiece specifications, ensuring the standardization of welding and repair operations. The matching control components are equipped with a visual monitoring camera and a limit structure, enabling real-time monitoring and repair. This system integrates the welding area image to accurately identify the workpiece welding trajectory, weld defects, and workpiece position deviation. Simultaneously, it regulates the equipment's operating stroke through a limiting structure, effectively avoiding problems such as welding offset and overtravel. In actual production applications, the welding department fundamentally compensates for the shortcomings of traditional automated welding equipment, such as lack of visual calibration and low fault tolerance. It can correct welding operation deviations in real time, preventing welding quality problems caused by workpiece position changes, effectively ensuring the quality of workpiece welding and the overall structural strength. Furthermore, the integrated structural design of this component reduces the frequency of manual intervention, decreasing the workload of manual welding repair and rework, effectively improving the welding yield rate, reducing production losses and costs, and providing core support for automated and high-precision industrial welding operations. It is suitable for welding and defect repair production scenarios for various workpieces. 2. The moving part of this invention is the core transmission and adjustment module that ensures the flexibility and full coverage of this welding device. It undertakes the core functions of welding point switching and adaptive adjustment of the working stroke, effectively solving the industry problems of fixed working range and insufficient position adjustment accuracy of traditional welding equipment, which cannot adapt to workpiece position changes and multi-area welding needs. This component integrates two major functional structures, the moving component and the driving component, to build a stable and efficient horizontal displacement adjustment system, providing reliable power and structural support for the welding torch's full-area welding operation. The moving component relies on composite structures such as slide rails, rack and pinion gears, and triangular supports to create a highly stable displacement guiding and transmission structure, ensuring that the welding torch moves smoothly without shaking during horizontal movement, avoiding welding defects caused by displacement deviation. At the same time, the setting of the support structure further improves the equipment's operation. The structural stability and safety of the drive components are ensured by the synchronous transmission of power through the synchronous pulley and synchronous belt, which guarantees the response speed of displacement adjustment and makes the horizontal position adjustment of the welding torch more controllable. In industrial production scenarios, the moving part completely breaks the disadvantage of the limited working area of ​​traditional automated welding equipment. It can flexibly adjust the horizontal working position of the welding torch according to the actual placement position of the workpiece and the distribution of welding points, adapting to the processing needs of workpieces of various sizes and welding points. Its high-precision displacement adjustment capability, combined with the detection and calibration of the vision system, greatly improves the equipment's adaptability to workpiece position deviation, avoids the problems of missed welding and off-center welding from the hardware level, effectively expands the application range of the equipment, improves the flexibility and versatility of automated welding operations, and greatly improves the adaptability and production efficiency of batch welding production. 3. The fixing part of this invention is a fundamental load-bearing and positioning module that ensures the stability of welding operations and improves welding accuracy. It is a core pre-construction structure that avoids welding defects caused by workpiece displacement and ensures the orderly conduct of welding operations. It effectively solves the problems of unstable workpiece fixation and large positioning deviations in traditional welding operations, which lead to inconsistent welding quality. This component uses a clamping module as its core load-bearing structure, which can clamp and stably position various workpieces to be processed, providing a stable working foundation for subsequent welding and repair welding operations. In the overall equipment operation system, the fixing part plays a key role in workpiece positioning and stable limiting, and can effectively constrain the position of the workpiece throughout the entire welding process. This specialized clamping module eliminates displacement, offset, and shaking caused by equipment vibration, external force, or workpiece loosening during the welding process, reducing welding defects such as incomplete welds, missed welds, and weld misalignment from the source. Compared to traditional manual or ordinary clamping methods, this dedicated clamping module offers higher positioning accuracy and stronger fixation stability, adapting to the clamping and fixing needs of various precision workpieces. It effectively ensures the consistency of workpiece position during the welding process, making the welding trajectory and repair welding points more precise and controllable. At the same time, the standardized clamping and fixing structure enables rapid workpiece clamping and positioning, shortening the preparation time for workpiece fixing and improving the overall efficiency of the welding operation.

[0012] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial cross-sectional view of the welded part of the present invention; Figure 3 This is a schematic diagram of the structure of the moving part of the present invention; Figure 4 For the present invention Figure 2 A magnified structural diagram of A in the middle; Figure 5 For the present invention Figure 2 A magnified structural diagram of A in the middle; Figure 6 For the present invention Figure 2 A magnified structural diagram of C.

[0015] The attached diagram lists the components represented by each number as follows: In the diagram: 1. Bracket; 2. Welding section; 21. Welding assembly; 211. Crossbeam; 212. Guide rail one; 213. Bracket one; 214. Slide carriage; 215. Welding torch mounting plate; 216. Welding torch; 217. Lifting motor; 218. Screw one; 22. Control assembly; 221. Camera; 222. Limiter; 3. Moving section; 31. Moving assembly; 311. Slide rail two; 312. Bracket two; 313. Fixed frame; 314. Tripod; 315. Rotating shaft one; 316. Gear; 317. Rack; 318. Synchronous pulley one; 32. Drive assembly; 321. Moving motor; 322. Rotating shaft two; 323. Synchronous pulley two; 324. Synchronous belt; 4. Fixed section; 411. Clamping module; 412. Workpiece. Detailed Implementation

[0016] 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, and 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.

[0017] Please see Figure 1 - Figure 6 As shown, the present invention is an automatic welding and automatic repair welding device based on robot vision, including a support 1, and further including: a welding part 2, a moving part 3, and a fixing part 4; the welding part 2 is disposed on the top of the support 1; the moving part 3 is disposed on the welding part 2; and the fixing part 4 is disposed on the front of the support 1. Welding section 2 includes welding assembly 21 and control assembly 22; both welding assembly 21 and control assembly 22 are mounted on bracket 1; welding assembly 21 includes a crossbeam 211, guide rail 212, bracket 213, slide 214, welding torch mounting plate 215, welding torch 216, lifting motor 217, and screw 218. The crossbeam 211 is fixedly connected to the front of bracket 1, the guide rail 212 is fixedly connected to the front of crossbeam 211, the bracket 213 is slidably connected to the outer surface of guide rail 212, the slide 214 is fixedly connected to the front of bracket 213, the welding torch mounting plate 215 is slidably connected to the outer wall of slide 214, and the welding torch mounting plate 215 is mounted on the front of welding torch mounting plate 215. There is a welding torch 216, and a screw 218 is rotatably connected to the slide 214. The screw 218 passes through the welding torch mounting plate 215, and the outer wall of the screw 218 is threadedly connected to the welding torch mounting plate 215. A driving component is provided on the screw 218, and the top end of the screw 218 extends to the outside of the slide 214. The driving component includes a lifting motor 217, which is fixedly connected to the top of the slide 214. The output shaft of the lifting motor 217 is fixedly connected to the screw 218 through a coupling. The control component 22 includes a camera 221 and a limiter 222. The camera 221 is fixedly connected to the slide 214, and two limiters 222 are provided on the front of the crossbeam 211.

[0018] The moving part 3 includes a moving component 31 and a driving component 32. The moving component 31 is disposed on the top of the crossbeam 211. The driving component 32 is disposed on the moving component 31. The moving component 31 includes a second slide rail 311, a second bracket 312, a fixed frame 313, a tripod 314, a first rotating shaft 315, a gear 316, a rack 317, and a first synchronous pulley 318. The second slide rail 311 is fixedly connected to the top of the crossbeam 211. The second bracket 312 is slidably connected to the outer surface of the second slide rail 311. The front of the second bracket 312 is fixedly connected to the first bracket 213. The tripod 314 is fixedly connected to the bottom of the second bracket 312. The first rotating shaft 315 is rotatably connected to the tripod 314. The top of the first rotating shaft 315 extends through the outside of the second bracket 312. The gear 316 is fixedly connected to the middle outer wall of the first rotating shaft 315. The rack 317 is fixedly connected to the top of the first bracket 314. 317 meshes with gear 316. A synchronous pulley 318 is fixedly connected to the top outer wall of the first rotating shaft 315. A support member is provided on the top of the second bracket 312. The support member includes a fixed frame 313. The fixed frame 313 is fixedly connected to the top of the second bracket 312. The fixed frame 313 is in contact with the welding gun mounting plate 215. The drive assembly 32 includes a moving motor 321, a second rotating shaft 322, a second synchronous pulley 323, and a synchronous belt 324. The moving motor 321 is fixedly connected to the bottom of the second bracket 312. The output shaft of the moving motor 321 is fixedly connected to the second rotating shaft 322 through a coupling. The second rotating shaft 322 extends through the outside of the second bracket 312. The second synchronous pulley 323 is fixedly connected to the top outer wall of the second rotating shaft 322. The synchronous belt 324 is wound around the outer walls of the second synchronous pulley 323 and the first synchronous pulley 318. The outer wall of the second rotating shaft 322 is rotatably connected to the second bracket 312.

[0019] The fixing part 4 includes a clamping module 411 and a workpiece 412. The clamping module 411 is provided on the front side of the bracket 1, and the workpiece 412 is provided on the top of the clamping module 411.

[0020] It should be noted that the control of the lifting motor 217, the moving motor 321 and the clamping module 411 in this application can all be achieved by using a program set in the control panel and inputting relevant parameters as needed for automated control. This control method can be achieved using existing technologies, such as PLC.

[0021] In use, the workpiece 412 can be placed on the clamping module 411 for clamping and fixing. After clamping, when welding or repair welding is required, the lifting motor 217 can be started first. The lifting motor 217 will drive the screw 218 to rotate, and under the guidance of the slide 214, the welding gun mounting plate 215 sliding on the slide 214 can drive the welding gun 216 to move downward. At the same time, the moving motor 321 can also be started synchronously. The moving motor 321 will drive the synchronous wheel 323 to rotate through the rotating shaft 322. Since the synchronous wheel 323 can mesh with the synchronous wheel 318 through the synchronous belt 324, the rotating shaft 315 on the synchronous wheel 318 can drive the gear 316 to mesh with the rack 317 on the crossbeam 211, thereby allowing the bracket 312 to drive the welding gun 216 working on the bracket 213, and adjust the horizontal position under the guidance of the guide rail 212 and the slide rail 311.

[0022] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0023] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic welding and automatic repair welding device based on robot vision, comprising a support (1), characterized in that, Also includes: Welding part (2), moving part (3) and fixing part (4); The welding part (2) is located on the top of the bracket (1); The movable part (3) is disposed on the welding part (2); The fixing part (4) is provided on the front of the bracket (1); The welding part (2) includes a welding assembly (21) and a control assembly (22); Both the welding assembly (21) and the control assembly (22) are mounted on the bracket (1); The welding assembly (21) includes a crossbeam (211), a guide rail (212), a bracket (213), a slide (214), a welding torch mounting plate (215), a welding torch (216), a lifting motor (217), and a screw (218). A crossbeam (211) is fixedly connected to the front of the bracket (1). A guide rail (212) is fixedly connected to the front of the crossbeam (211). A bracket (213) is slidably connected to the outer surface of the guide rail (212). A slide (214) is fixedly connected to the front of the bracket (213). A welding gun mounting plate (215) is slidably connected to the outer wall of the slide (214). A welding gun (216) is provided on the front of the welding gun mounting plate (215). A screw (218) is rotatably connected to the slide (214). The screw (218) passes through the welding gun mounting plate (215). The outer wall of the screw (218) is threadedly connected to the welding gun mounting plate (215). A driving component is provided on the screw (218). The top end of screw 1 (218) extends through to the outside of carriage (214).

2. The automatic welding and automatic repair welding device based on robot vision according to claim 1, characterized in that: The moving part (3) includes a moving component (31) and a driving component (32); The movable component (31) is disposed on top of the crossbeam (211); The drive component (32) is disposed on the moving component (31).

3. The automatic welding and automatic repair welding device based on robot vision according to claim 2, characterized in that: The control component (22) includes a camera (221) and a limiter (222); A camera (221) is fixedly connected to the slide (214), and two limiters (222) are provided on the front of the crossbeam (211).

4. The automatic welding and automatic repair welding device based on robot vision according to claim 3, characterized in that: The moving component (31) includes a second slide rail (311), a second bracket (312), a fixed frame (313), a tripod (314), a first rotating shaft (315), a gear (316), a rack (317), and a first synchronous pulley (318). The top of the crossbeam (211) is fixedly connected to a slide rail two (311), and the outer surface of the slide rail two (311) is slidably connected to a bracket two (312). The front of the bracket two (312) is fixedly connected to a bracket one (213). The bottom of the bracket two (312) is fixedly connected to a tripod (314). A rotating shaft one (315) is rotatably connected to the tripod (314). The top of the rotating shaft one (315) extends through to the outside of the bracket two (312). A gear (316) is fixedly connected to the middle outer wall of the rotating shaft one (315). A rack (317) is fixedly connected to the top of the bracket (1). The rack (317) meshes with the gear (316). A synchronous wheel one (318) is fixedly connected to the top outer wall of the rotating shaft one (315). A support member is provided on the top of the bracket two (312).

5. The automatic welding and automatic repair welding device based on robot vision according to claim 4, characterized in that: The drive assembly (32) includes a moving motor (321), a second rotating shaft (322), a second synchronous pulley (323), and a synchronous belt (324). A mobile motor (321) is fixedly connected to the bottom of the second bracket (312). The output shaft of the mobile motor (321) is fixedly connected to a rotating shaft (322) via a coupling. The rotating shaft (322) extends through the outside of the second bracket (312). A synchronous pulley (323) is fixedly connected to the top outer wall of the rotating shaft (322). A synchronous belt (324) is wound around the outer walls of the synchronous pulley (323) and the synchronous pulley (318). The outer wall of the second rotating shaft (322) is rotatably connected to the second support (312).

6. The automatic welding and automatic repair welding device based on robot vision according to claim 5, characterized in that: The fixing part (4) includes a clamping module (411) and a workpiece (412). The front of the bracket (1) is provided with a clamping module (411), and the top of the clamping module (411) is provided with a workpiece (412).

7. The automatic welding and automatic repair welding device based on robot vision according to claim 6, characterized in that: The driving component includes a lifting motor (217); The top of the slide (214) is fixedly connected to a lifting motor (217), and the output shaft of the lifting motor (217) is fixedly connected to the screw (218) through a coupling.

8. The automatic welding and automatic repair welding device based on robot vision according to claim 7, characterized in that: The support includes a fixing frame (313); The top of the second bracket (312) is fixedly connected to a fixing frame (313), which is in contact with the welding gun mounting plate (215).

Images