Electrode holder grabbing anti-collision device

Abstract

The utility model relates to the technical field of welding, and discloses an anti-collision device for grabbing of welding tongs, which comprises a welding robot provided with a mechanical arm, a robot controller, an image acquisition module, a visual processing module and a visual control module, and the robot controller, the image acquisition module, the visual processing module and the visual control module are in signal connection. The image acquisition module is arranged at the end, used for grabbing, of the mechanical arm, and grabbing control logic is preset in the visual control module; welding pliers; the quick connecting disc is provided with a first end and a second end which can be quickly connected, and the first end and the second end are arranged at the grabbing end of the mechanical arm and the electrode holder correspondingly; and the welding pliers seat is used for bearing the welding pliers. The position of the welding tongs in the working area can be monitored in real time through machine vision, the welding robot is controlled to accurately grab, and grabbing is automatically stopped when the collision risk occurs, so that collision between a mechanical arm and the welding tongs is avoided, and the working efficiency and safety of switching of the welding tongs are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of welding, and more specifically to a welding clamp grabbing anti-collision device. Background Art

[0002] At present, with the rapid development of new energy vehicles, the iteration speed of new models has increased significantly, and the work of R&D and trial production has become more and more. The trial production welding line needs to switch back and forth between different welding tongs through robots to meet the needs of different processes for different models. The welding tongs have a complex structure and are expensive. At the same time, they need to be connected to the robot arm for electricity, water, gas, and communication. How to ensure that the welding robot can quickly and stably switch between different welding tongs is particularly critical.

[0003] The welding gun is placed on the welding gun seat and positioned by two positioning pins. The welding robot stops above the welding gun seat according to the programmed position coordinates of the welding gun seat and directly grabs the welding gun. However, there is a lack of actual confirmation process. If the positioning pin is worn and loose, or the welding clamp structure changes, the welding manipulator and the welding clamp will not be connected normally, and there is a risk that the manipulator and the welding clamp will collide and cause the welding clamp to fall. Utility Model Content

[0004] The utility model aims to provide a welding clamp grabbing anti-collision device to solve the problems in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the utility model is implemented by adopting the following technical solutions:

[0006] A welding clamp grabbing anti-collision device, comprising:

[0007] The welding robot 100 includes a mechanical arm 110, a robot controller 120, an image acquisition module 130, a visual processing module 140 and a visual control module 150. The robot controller 120, the image acquisition module 130, the visual processing module 140 and the visual control module 150 are connected by signals. The image acquisition module 130 is arranged at one end of the mechanical arm 110 for grasping. The visual control module 150 presets a grasping control logic.

[0008] Welding tongs 200;

[0009] A quick-connect plate 300, comprising a first end 310 and a second end 320 that can be quickly connected, and is respectively disposed on one end of the robot arm 110 for grasping and the welding tongs 200;

[0010] The welding clamp seat 400 is used to hold the welding clamp 200 .

[0011] Furthermore, the image acquisition module 130 and the visual processing module 140 are connected by optical fiber or Ethernet.

[0012] Furthermore, the robot controller 120, the visual processing module 140 and the visual control module 150 may be connected using communication protocols and interfaces such as Profinet, Modbus, Profibus, etc. according to different brands of equipment.

[0013] Furthermore, the preset grasping control logic of the visual control module 150 is to compare the preset position and state of the welding clamp 200 according to the processing result of the visual processing module 140, and determine whether the current welding clamp 200 meets the grasping requirements. If so, an instruction to execute the grasping action is sent to the welding robot controller 120; otherwise, a stop instruction is sent and the grasping action stops.

[0014] Furthermore, at least one placing station is provided on the welding clamp seat 400 , and a supporting and fixing structure is provided on the placing station according to the specific structure of the welding clamp 200 .

[0015] Furthermore, a detection device 410 for detecting the welding clamp 200 is disposed on the welding clamp seat 400 .

[0016] Furthermore, the detection device 410 adopts a proximity sensor and is connected to the robot controller 120 via a signal.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The utility model provides a welding clamp grasping and anti-collision device, which captures the image of the working area through an image acquisition module and then transmits it to a visual processing module. After receiving the image, the visual processing module processes the image through an image processing algorithm, identifies the welding clamp to be grasped in the working area, determines its position and state, and transmits the processing result to the visual control module. After receiving the processing result, the visual control module determines whether the current welding clamp meets the grasping requirements according to the preset welding clamp position and state. If so, an instruction to execute the grasping action is sent to the robot controller; otherwise, a stop instruction is sent to stop the grasping action.

[0019] The utility model provides a welding clamp grasping anti-collision device, which can monitor the welding clamp position in the working area in real time through machine vision, control the welding robot to grasp accurately, and automatically stop grasping when a collision risk occurs, thereby avoiding collision between the robot arm and the welding clamp, and improving the work efficiency and safety of welding clamp switching. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The utility model is further described below in conjunction with the accompanying drawings:

[0021] Figure 1 A schematic diagram of the composition structure of a welding clamp grabbing anti-collision device in one embodiment;

[0022] Figure 2 A control logic diagram of a welding clamp grabbing anti-collision device in one embodiment;

[0023] 100. welding robot, 110. robotic arm, 120. robot controller, 130. image acquisition module, 140. visual processing module, 150. visual control module;

[0024] 200. Welding tongs;

[0025] 300. quick-connect plate, 310. first end, 320. second end;

[0026] 400. Welding clamp seat, 410. Detection device. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the utility model is described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, but not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figure 1 The present embodiment provides a welding clamp grabbing anti-collision device, including: a welding robot 100, a welding clamp 200, a quick-connect plate 300 and a welding clamp seat 400.

[0029] The welding robot 100 includes a robot arm 110 , a robot controller 120 , an image acquisition module 130 , a vision processing module 140 and a vision control module 150 .

[0030] The robot controller 120 , the image acquisition module 130 , the visual processing module 140 and the visual control module 150 are signal connected.

[0031] In this embodiment, the image acquisition module 130 and the visual processing module 140 are connected by optical fiber or Ethernet; the robot controller 120, the visual processing module 140 and the visual control module 150 can be connected by communication protocols and interfaces such as Profinet, Modbus, Profibus, etc. according to different brands of equipment.

[0032] The robot controller 120 is used to control the robot arm 110 to move and grasp operations according to a preset path.

[0033] The image acquisition module 130 is disposed at one end of the robotic arm 110 for grasping the welding tongs 200 . The image acquisition module 130 includes a camera and an image sensor, and can capture and transmit images of a working area in real time.

[0034] The visual processing module 140 is provided with an image processing algorithm. After receiving the image captured by the image acquisition module 130, the captured image is processed by the image processing algorithm to identify the real-time position and real-time status of the welding clamp 200.

[0035] The visual control module 150 presets a grasping control logic for determining whether to grasp the welding clamp 200. The preset grasping control logic of the visual control module 150 is to determine whether the current welding clamp 200 meets the grasping requirements by comparing the real-time position and real-time state of the welding clamp 200 obtained by the visual processing module 140 with the preset position and state of the welding clamp 200. If yes, an instruction to execute the grasping action is sent to the welding robot controller 120; otherwise, a stop instruction is sent and the grasping action stops. The judgment process includes confirming whether the real-time position of the welding clamp 200 is within the preset position range to ensure that the mechanical arm 110 and the welding clamp 200 are accurately docked. It also includes confirming whether there are obstacles around the welding clamp 200, whether the welding clamp 200 is placed correctly, and other real-time states to avoid collisions of the mechanical arm 110.

[0036] The quick-connect plate 300 includes a first end 310 and a second end 320 that can be quickly connected. The first end 310 and the second end 320 are respectively arranged on an end of the robot arm 110 for grasping and the welding clamp 200. Through the quick connection of the first end 310 and the second end 320, the power, water, gas and communication connections between the robot arm 110 and the welding clamp 200 can be realized.

[0037] The welding clamp seat 400 is used to hold the welding clamp 200. A plurality of placing stations are arranged on the welding clamp seat 400. Each placing station is provided with a suitable support and fixing structure according to the different structures of the welding clamp 200. Each placing station is also provided with a detection device 410 for detecting the presence or absence of the welding clamp 200. In this embodiment, the detection device 410 adopts a proximity sensor and is connected to the robot controller 120 signal.

[0038] See also Figure 2 The working principle of the welding clamp grabbing anti-collision device provided in this embodiment is as follows:

[0039] The robot controller 120 controls the robot arm 110 to move above the welding clamp 200 to be grasped, and the image acquisition module 130 captures real-time images and transmits them to the visual processing module 140. The visual processing module 140 obtains the real-time position and real-time status of the welding clamp 200 through analysis and processing, and transmits the processing result to the visual control module 150. According to the real-time position and real-time status of the welding clamp 200 obtained by the visual processing module 140, it is compared with the preset position and status of the welding clamp 200 to determine whether the current welding clamp 200 meets the grasping requirements. If so, an instruction to execute the grasping action is sent to the welding robot controller 120; otherwise, a stop instruction is sent, the grasping action stops, and an alarm is issued to remind the operator to check the condition of the welding clamp 200.

[0040] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A welding clamp grabbing anti-collision device, characterized in that: include: A welding robot (100) comprises a mechanical arm (110), a robot controller (120), an image acquisition module (130), a visual processing module (140) and a visual control module (150), wherein the robot controller (120), the image acquisition module (130), the visual processing module (140) and the visual control module (150) are signal-connected, the image acquisition module (130) is arranged at one end of the mechanical arm (110) for grasping, and the visual control module (150) presets a grasping control logic; Welding tongs (200); A quick-connect plate (300) comprising a first end (310) and a second end (320) that can be quickly connected, and arranged on an end of the mechanical arm (110) for grasping and the welding tongs (200) respectively; The welding clamp seat (400) is used for accommodating the welding clamp (200).

2. A welding clamp grabbing anti-collision device according to claim 1, characterized in that: The image acquisition module (130) and the visual processing module (140) are connected by optical fiber or Ethernet.

3. A welding clamp grabbing anti-collision device according to claim 1, characterized in that: The robot controller (120), the visual processing module (140) and the visual control module (150) can be connected using Profinet, Modbus, or Profibus communication protocols and interfaces according to different brands of equipment.

4. A welding clamp grabbing anti-collision device according to claim 1, characterized in that: The preset grasping control logic of the visual control module (150) is to compare the preset position and state of the welding clamp (200) based on the processing result of the visual processing module (140), and judge whether the current welding clamp (200) meets the grasping requirements. If yes, an instruction to execute the grasping action is sent to the robot controller (120); otherwise, a stop instruction is sent to stop the grasping action.

5. The welding clamp grabbing anti-collision device according to claim 1, characterized in that: At least one receiving and placing station is arranged on the welding tongs seat (400), and a supporting and fixing structure is arranged on the receiving and placing station according to the specific structure of the welding tongs (200).

6. A welding clamp grabbing anti-collision device according to claim 1, characterized in that: The welding clamp seat (400) is provided with a detection device (410) for detecting the welding clamp (200).

7. A welding clamp grabbing anti-collision device according to claim 6, characterized in that: The detection device (410) adopts a proximity sensor and is connected to the robot controller (120) via a signal.

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