Welding robot

Abstract

The utility model relates to a welding robot which comprises a moving body. The welding unit comprises a mechanical arm, a connecting assembly arranged on the mechanical arm and a welding piece arranged on the connecting assembly, the mechanical arm is arranged on the moving main body, the connecting assembly comprises a support main body and an adjusting assembly, the support main body is arranged at the free end of the mechanical arm, and the adjusting assembly is arranged at the free end of the mechanical arm. The welding piece is mounted on the bracket main body; the adjusting assembly is installed on the support body. And the visual sensor is arranged on the adjusting assembly, the visual sensor is arranged towards the welding position, and the visual sensor is arranged to adjust the pose of the visual sensor through the adjusting assembly. According to the utility model, the visual sensor can better identify the welding area, and the influence of welding scraps, sparks and the like on the visual sensor in the welding process is reduced as much as possible. And the image acquisition definition and accuracy of the visual sensor are effectively improved, so that the welding precision and accuracy are improved, and the welding quality is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a welding robot. Background Art

[0002] A wheeled mobile robot is a robot that can move and perform tasks in physical space. They are usually designed to perform various tasks in different environments, such as cleaning, logistics, patrolling, warehouse management, etc. Based on the characteristics of wheeled mobile robots that can move autonomously, adding execution modules to them can replace manual handheld special tools to perform operations. For example, a transport robot is provided with a conveying mechanism, such as a conveyor belt. By docking with external conveying equipment, materials can be directly transferred to the conveying mechanism of the transport robot for caching, and then the transport robot performs the transfer business. Existing welding operations are generally based on the addition of a welding gun at the end of an industrial six-degree-of-freedom robotic arm to replace manual welding operations.

[0003] However, the deficiency of the existing technology is that welding chips and sparks will be generated during the welding process, which will affect the clarity and accuracy of the image acquisition process of the visual sensor. Therefore, the image of the welding area cannot be well identified, and the welding quality cannot be guaranteed. Utility Model Content

[0004] To this end, the technical problem to be solved by the utility model is to overcome the deficiencies in the prior art and provide a welding robot that can effectively improve the image acquisition clarity and accuracy of the visual sensor, thereby facilitating improving the welding precision and accuracy, and further ensuring the welding quality.

[0005] In order to solve the above technical problems, the utility model provides a welding robot, comprising:

[0006] Moving subjects;

[0007] A welding unit, comprising a mechanical arm, a connecting assembly arranged on the mechanical arm, and a welding piece arranged on the connecting assembly, wherein the mechanical arm is arranged on the mobile body, the connecting assembly comprises a bracket body and an adjusting assembly, the bracket body is arranged on the free end of the mechanical arm, the welding piece is installed on the bracket body; the adjusting assembly is installed on the bracket body;

[0008] The visual sensor is arranged on the adjusting component, the visual sensor is arranged toward the welding position, and the visual sensor is arranged to adjust the posture of the visual sensor through the adjusting component.

[0009] In one embodiment of the utility model, the bracket body includes a connecting portion and an extending portion, the connecting portion is connected to the robotic arm, the extending portion is arranged at one end of the connecting portion, the extending portion extends laterally, and is used to install welding parts and adjustment components.

[0010] In one embodiment of the utility model, the adjustment component includes an adjustment support, an adjustment side plate and a mounting body, the adjustment support is connected to the bracket body, the adjustment side plate is connected to the adjustment support and can be rotated and adjusted around a horizontal axis; the mounting body is connected to the adjustment side plate and can be laterally moved and adjusted; the visual sensor is installed on the mounting body.

[0011] In one embodiment of the utility model, the adjustment side plate is rotatably mounted on the adjustment support, the adjustment side plate is provided with an arc groove, the geometric axis of the arc groove overlaps with the rotation axis of the adjustment side plate, and a first fastener connected to the adjustment support is arranged through the arc groove to fix the adjustment side plate after the angle is adjusted.

[0012] In one embodiment of the utility model, the adjustable side plate is provided with a strip groove, and at least two second fasteners connected to the mounting body are arranged through the arc groove to fix the adjustable side plate after movement and adjustment.

[0013] In an embodiment of the present utility model, a mounting positioning groove is provided on the bracket body, and the welding piece is assembled in the mounting positioning groove.

[0014] In one embodiment of the present invention, the welding component is a welding gun.

[0015] In one embodiment of the present invention, the welding unit further comprises a welding cabinet, the welding cabinet is arranged on the mobile body, and the welding part is connected to the welding cabinet.

[0016] In one embodiment of the utility model, an electrical control cabinet is further included. The electrical control cabinet is arranged on the mobile body, and the electrical control cabinet is electrically connected to the mobile body, the welding unit and the visual sensor.

[0017] In one embodiment of the utility model, it also includes a submerged arc welding wire reel, and the submerged arc welding wire reel is rotatably arranged in the electrical control cabinet.

[0018] The above technical solution of the utility model has the following advantages compared with the prior art:

[0019] The utility model discloses a welding robot, which is provided with a mobile body, a welding unit and a visual sensor. The welding unit includes a mechanical arm, a connecting assembly and a welding part. Through the coordination of the mechanical arm, the connecting assembly, the welding part and the visual sensor, the position and angle of the visual sensor can be adjusted and controlled according to the actual operation requirements, so that the visual sensor can better identify the welding area and minimize the impact of welding shavings, sparks and the like during the welding process on the visual sensor. The image acquisition clarity and accuracy of the visual sensor are effectively improved, which is conducive to improving the welding precision and accuracy, thereby ensuring the welding quality;

[0020] Furthermore, the utility model can effectively improve the flexibility of the hardware, that is, the flexibility of the robotic arm, by cooperating the mobile body with the robotic arm, so that the robotic arm can be moved to a specified position in a controlled manner, thereby improving the flexibility of the welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0022] Figure 1 It is a schematic diagram of the overall structure of a preferred embodiment of the utility model.

[0023] Figure 2 It is a partial structural schematic diagram of a welding unit in a preferred embodiment of the utility model.

[0024] Explanation of the reference numerals in the specification: 1. Mobile body; 10. Carrying platform; 20. Robotic arm; 21. Welding part; 22. Bracket body; 220. Connecting part; 221. Extension part; 222. Mounting positioning groove; 23. Adjustment support; 230. First fastener; 24. Mounting body; 25. Adjustment side plate; 250. Through hole; 251. Arc groove; 252. Strip groove; 260. Second fastener; 30. Visual sensor; 31. Welding cabinet; 4. Electrical control cabinet; 40. Submerged arc welding wire reel. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0026] Reference Figure 1 to Figure 2As shown, the utility model discloses a welding robot, including a mobile body 1, which is used to realize the movement of the welding robot, and the mobile body 1 includes but is not limited to AGV, AMR guided vehicle or other transportation equipment. Specifically, the mobile body 1 includes a carrying platform 10. Of course, a driving wheel and a driven wheel are also provided at the bottom of the carrying platform to realize the movement of the carrying platform. A possible embodiment is that a power supply, a motor and other electrical units are provided in the carrying platform to realize the power supply and automatic control of the carrying platform.

[0027] The welding robot also includes a welding unit, which is used to weld the workpiece to be welded. Specifically, the welding unit includes a robot arm 20, a connecting component arranged on the robot arm 20, and a welding part 21 arranged on the connecting component. Among them, the robot arm 20 is arranged on the carrying platform 10. In this embodiment, the robot arm 20 adopts a multi-axis robot arm, so that the end of the robot arm (i.e., the free end) can achieve multi-degree-of-freedom movement. The base of the robot arm 20 is fixed on the carrying platform 10. The welding part 21 adopts a welding gun, such as a wire drawing welding gun, a wire pushing welding gun, a laser welding gun, etc.

[0028] In this embodiment, the connection assembly includes a support body 22 and an adjustment assembly. The support body 22 is arranged at the free end of the mechanical arm 20. The welding piece 21 and the adjustment assembly are installed on the support body 22.

[0029] As a preferred embodiment, the bracket body 22 is L-shaped. Specifically, the bracket body 22 includes a connecting portion 220 and an extending portion 221. The connecting portion 220 is installed at the output end of the robot arm 20. The length direction of the connecting portion 220 is perpendicular to the extension direction of the end of the robot arm 20. The extending portion 221 is arranged at one end of the connecting portion 220. The extending portion 221 is used to install the welding part 21 and the adjustment component. In detail, the length direction of the extending portion 221 is parallel to the extension direction of the end of the robot arm 20. Therefore, in combination Figure 1 , it can be understood that the extension part 221 is extended in the horizontal direction. The connection part 220 is extended in the vertical direction. The extension part 221 of the bracket body 22 is provided with an installation positioning groove 222, and the welding piece 21 is assembled in the installation positioning groove 222.

[0030] Specifically, the adjustment assembly includes an adjustment support 23, an adjustment side plate 25 and a mounting body 24. The adjustment support 23 is connected to the bracket body 22. The adjustment side plate 25 is connected to the adjustment support 23 and can be rotated and adjusted around a horizontal axis. The mounting body 24 is connected to the adjustment side plate 25 and can be moved laterally and adjusted.

[0031] In this embodiment, at least one groove is provided on the adjustment support 23. The adjustment support 23 is engaged with the extension 221 through the groove and assembled to the extension 221 from the bottom of the extension 221. As a preferred embodiment, the adjustment support 23 is arranged in an "H" shape in a vertical section perpendicular to the extension 221, and two grooves are provided on it.

[0032] In this embodiment, two adjustment side plates 25 are provided and are respectively provided on both sides of the adjustment support 23. In detail, the adjustment side plates 25 are rotatably mounted on the adjustment support 23. Among them, the adjustment side plates 25 are provided with a through hole 250 relative to the adjustment support 23. The through through hole 250 is provided on the pin connected to the adjustment support 23, so as to achieve the rotation angle adjustment of the adjustment side plates 25 relative to the adjustment support 23. In addition, the adjustment side plates 25 are provided with an arc groove 251, and the geometric axis of the arc groove 251 overlaps with the rotation axis of the adjustment side plates 25. That is, the geometric axis of the arc groove 251 overlaps with the geometric axis of the through hole 250. The first fastener 230 connected to the adjustment support 23 is provided through the arc groove 251 to fix the adjustment side plates 25 after the angle adjustment. Therefore, the first fastener 230 can cooperate with the arc groove 251 to adjust the angle of the adjustment side plates 25. In this embodiment, the first fastener 230 is a threaded fastener, such as a screw, a bolt, etc.

[0033] In addition, the adjustment side plate 25 is provided with a strip groove 252. The installation body 24 is arranged between the two adjustment side plates 25. In addition, at least two second fasteners 260 connected to the installation body 24 are arranged through the strip groove 252 to fix the adjustment side plate 25 after movement and adjustment. Specifically, the strip groove 252 is arranged to extend laterally. In this way, the second fastener 260 cooperates with the strip groove 252 to adjust the front and rear position of the adjustment side plate 25 in the horizontal direction, thereby realizing the control and adjustment of the front and rear position of the installation body 24 in the horizontal direction. In order to ensure the stability of the movement of the installation body 24, as a preferred embodiment, a plurality of second fasteners 260 are provided, and the plurality of second fasteners 260 are evenly arranged along the strip groove. In this embodiment, the second fastener 230 can also be a threaded fastener, such as a screw, a bolt, etc.

[0034] The welding robot also includes a visual sensor 30. The visual sensor 30 is set toward the welding position. In addition, the visual sensor 30 is configured to adjust its posture by adjusting the component, so that a comprehensive and clear image of the welding process can be acquired, thereby identifying the welding position and the welding effect. Specifically, the welding seam position can be identified by image acquisition before welding, so that the robot arm adjusts the position of the welded part for precise welding. At the same time, after welding, the welding effect is evaluated after image acquisition to ensure the welding quality and timely remedy if the welding effect is not good.

[0035] The visual sensor 30 is arranged in the adjustment component, specifically, the visual sensor 30 is installed on the installation body 24. Therefore, the visual sensor 30 can move synchronously with the installation body 24 to adjust the angle and position of the visual sensor 30. Therefore, the position and angle of the visual sensor can be adjusted and controlled according to the actual operation requirements, so that the visual sensor can better identify the welding area and minimize the impact of welding chips, sparks, etc. on the visual sensor during the welding process. The image acquisition clarity and accuracy of the visual sensor are effectively improved, which is conducive to improving the welding precision and accuracy, thereby ensuring the welding quality.

[0036] Furthermore, the welding unit further includes a welding cabinet 31 , which is disposed on the carrying platform 10 , and the welding piece 21 is connected to the welding cabinet 31 .

[0037] Furthermore, the welding robot also includes an electrical control cabinet 4, which is arranged on the supporting platform 10, and the electrical control cabinet 4 is electrically connected to the mobile body 1, the welding unit and the visual sensor to realize the control of the mobile body 1, the welding unit and the visual sensor.

[0038] As a preferred embodiment, the welding robot further includes a submerged arc welding wire reel 40 , and the submerged arc welding wire reel 40 is rotatably disposed in the electrical control cabinet 4 .

[0039] Compared with the prior art, the utility model can effectively improve the flexibility of the hardware, that is, the flexibility of the robotic arm, by coordinating the mobile body with the robotic arm, so that the robotic arm can be controlled to move to the specified position, thereby improving the flexibility of the welding process. The welding robot is installed on the wheeled mobile robot, and the wheeled mobile robot moves the welding robotic arm autonomously to the part that needs to be welded, and relies on the positioning accuracy of the wheeled mobile robot and the positioning accuracy of the sensor at the end of the welding robotic arm to jointly achieve high flexibility of the welding operation. This highly flexible welding method, combined with the free movement of the robotic arm, can be easily moved in different workshops and processing stations, and different welding robots can be deployed.

[0040] In addition, the utility model introduces human-machine collaboration technology and sets safety sensors around the welding robot. The safety sensors enable the welding robot to work more safely with the operator, thereby improving the adaptability of the welding robot in complex environments and avoiding potential collisions and injuries.

[0041] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A welding robot, characterized in that: include, Moving subjects; A welding unit, comprising a mechanical arm, a connecting assembly arranged on the mechanical arm, and a welding piece arranged on the connecting assembly, wherein the mechanical arm is arranged on the mobile body, the connecting assembly comprises a bracket body and an adjusting assembly, the bracket body is arranged on the free end of the mechanical arm, the welding piece is installed on the bracket body; the adjusting assembly is installed on the bracket body; The visual sensor is arranged on the adjusting component, the visual sensor is arranged toward the welding position, and the visual sensor is arranged to adjust the posture of the visual sensor through the adjusting component.

2. The welding robot according to claim 1, characterized in that: The bracket body includes a connecting portion and an extending portion, wherein the connecting portion is connected to the mechanical arm, and the extending portion is arranged at one end of the connecting portion, and the extending portion extends in a transverse direction and is used for installing welding parts and adjusting components.

3. The welding robot according to claim 2, characterized in that: The adjustment component includes an adjustment support, an adjustment side plate and a mounting body, the adjustment support is connected to the bracket body, the adjustment side plate is connected to the adjustment support and can be rotated and adjusted around a horizontal axis; the mounting body is connected to the adjustment side plate and can be laterally moved and adjusted; the visual sensor is installed on the mounting body.

4. The welding robot according to claim 3, characterized in that: The adjusting side plate is rotatably mounted on the adjusting support, and an arc groove is formed on the adjusting side plate. The geometric axis of the arc groove overlaps with the rotation axis of the adjusting side plate, and a first fastener connected to the adjusting support is arranged through the arc groove to fix the adjusting side plate after the angle is adjusted.

5. The welding robot according to claim 3, characterized in that: The adjustable side plate is provided with a strip groove, and at least two second fasteners connected to the installation body are arranged through the strip groove to fix the adjustable side plate after movement and adjustment.

6. A welding robot according to claim 1, characterized in that: The bracket body is provided with an installation positioning groove, and the welding piece is assembled in the installation positioning groove.

7. A welding robot according to claim 1, characterized in that: The welding part is a welding gun.

8. A welding robot according to any one of claims 1 to 7, characterized in that: The welding unit further comprises a welding cabinet, which is arranged on the mobile body, and the welding piece is connected to the welding cabinet.

9. A welding robot according to claim 8, characterized in that: It also includes an electrical control cabinet, which is arranged on the mobile body and is electrically connected to the mobile body, the welding unit and the visual sensor.

10. A welding robot according to claim 9, characterized in that: It also includes a submerged arc welding wire reel, which is rotatably arranged on the electrical control cabinet.

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