Welding robot based on visual inspection

Abstract

The utility model discloses a welding robot based on visual inspection, relates to the technical field of automatic welding, aims to solve the problem that welding is splashed onto a lens of a visual sensor when the welding robot based on visual inspection works, and comprises a robot body, a welding gun is installed at the free end of the robot body, a welding rod is installed at the end, away from the robot body, of the welding gun, a visual sensor is installed on the welding gun, and a lens of the visual sensor is arranged towards the welding rod. The protective cover is arranged on a lens of the visual sensor in a covering mode, and one end, away from the visual sensor, of the protective cover is detachably connected with a transparent piece.

Description

Technical Field

[0001] The utility model relates to the technical field of automated welding, in particular to a welding robot based on visual detection. Background Art

[0002] Welding robots are industrial robots engaged in welding, mainly consisting of two parts: robots and welding equipment. The welding robot system can improve product quality, improve flexibility, shorten delivery time, improve the working environment, enhance the company's innovative image and labor productivity, and reduce production costs.

[0003] When working, welding robots usually need to cooperate with visual sensors to ensure the accuracy of welding. The visual sensors cooperate with the control device to control the robot to drive the welding rod to the specified position for welding. However, when welding, existing welding robots based on visual detection usually have the problem of welding slag splashing onto the lens of the visual sensor, which affects the detection of the visual sensor and may even directly damage the visual sensor. Utility Model Content

[0004] In order to solve the above problem, that is, the problem that welding splashes onto the lens of the visual sensor when the welding robot based on visual detection is working, the utility model proposes a welding robot based on visual detection, which includes a robot body, a welding gun is installed at the free end of the robot body, a welding rod is installed at the end of the welding gun away from the robot body, a visual sensor is installed on the welding gun, and the lens of the visual sensor is arranged toward the welding rod, and it is characterized in that: a protective cover is also installed on the welding gun, the protective cover is arranged on the lens of the visual sensor, and a transparent sheet is detachably connected to the end of the protective cover away from the visual sensor.

[0005] The utility model is further configured as follows: a through slot is provided on one side plate of the protective cover, a limiting slot matched with the through slot is provided on the inner surface of the other side plate, and the transparent sheet passes through the through slot and is plugged into the limiting slot.

[0006] The utility model is further configured as follows: an escape portion is provided on the outer surface of a side plate of the protective cover where the through slot is provided, a stop pin is rotatably connected inside the escape portion, and the stop pin is used to block the through slot to limit the transparent sheet.

[0007] The utility model is further configured as follows: two magnetic strips are embedded in the avoidance portion, the two magnetic strips are symmetrically arranged about the rotation connection point of the stop pin, and the magnetic strips are arranged perpendicular to the through groove; a magnetic strip is also embedded on one side surface of the stop pin close to the avoidance portion.

[0008] The beneficial effects of the utility model are:

[0009] 1. Through the cooperation of the protective cover and the transparent sheet, the visual sensor can be protected to prevent the welding slag from splashing directly onto the lens of the visual sensor. By regularly replacing the transparent sheet, the solidified welding can be prevented from affecting the detection of the visual sensor. At the same time, the high temperature of the welding slag can also be prevented from damaging the lens of the visual sensor, further improving the accuracy of the welding robot.

[0010] 2. Through the cooperation of the stop pin and the magnetic strip, the transparent sheet can be limited and the transparent sheet can be replaced more conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The utility model is shown in the structural diagram.

[0012] Figure 2 A schematic structural diagram of a welding gun is shown.

[0013] Figure 3 A schematic diagram of the structure for removing the transparent sheet is shown.

[0014] Figure 4 A local enlarged view of point A is shown.

[0015] Figure 5 A schematic structural diagram of the stop pin is shown.

[0016] Figure numerals: 1. Robot body; 11. Rotating base; 12. Primary arm; 13. Secondary arm; 14. Mounting end; 2. Welding gun; 3. Welding rod; 4. Visual sensor; 5. Protective cover; 51. Through slot; 52. Limiting slot; 6. Transparent sheet; 7. Avoidance part; 8. Stop pin; 9. Magnetic strip. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0018] The utility model proposes a welding robot based on visual inspection, including a robot body 1. The robot body 1 is set to have four degrees of freedom, including a rotating base 11, a primary arm 12, a secondary arm 13 and a mounting end 14. The robot body 1 is a purchased part, and its structure is all existing technology, so it will not be repeated here.

[0019] A welding gun 2 is installed at the free end of the robot body 1, that is, a welding gun 2 is installed on the mounting end 14, one end of the welding gun 2 is fixedly connected to the mounting end 14, and a welding rod 3 is installed at the end of the welding gun 2 away from the mounting end 14 to realize the welding function.

[0020] A visual sensor 4 is connected to the welding gun 2 by screws, and the lens of the visual sensor 4 is set in the direction of the welding rod 3 to detect the welding position, and then transmit the visual signal to the control system in the machine body. The control system controls the movement of the robot body 1 based on the detection signal, and then drives the welding rod 3 to move to the welding position to weld the weldment.

[0021] A protective cover 5 is fixedly connected to the surface of one side of the welding gun 2 where the visual sensor 4 is installed. The protective cover 5 is set in a U-shaped cross-section. The protective cover 5 is set on the lens of the visual sensor 4. The end of the protective cover 5 facing away from the visual sensor 4 is detachably connected with a transparent sheet 6. The transparent sheet 6 is made of glass to ensure the normal detection of the visual sensor 4. At the same time, it also protects the lens of the visual sensor 4 to prevent welding slag from splashing onto the lens of the visual sensor 4.

[0022] A rectangular through slot 51 is provided on one of the side panels of the protective cover 5, and a rectangular limiting slot 52 matched with the through slot 51 is provided on the inner surface of the other side panel. The limiting slot 52 is arranged corresponding to the through slot 51, and the transparent sheet 6 is passed through and plugged into the limiting slot 52, so that the limiting slot 52 can solidly position and limit the transparent sheet 6, and by setting the through slot 51, the purpose of disassembly of the transparent sheet 6 can also be achieved, that is, the transparent sheet 6 is replaced regularly to avoid the welding slag splashed on the transparent sheet 6 from affecting the detection of the visual sensor 4.

[0023] An escape portion 7 is provided on the outer surface of a side panel of the protective cover 5 with a through slot 51. The escape portion 7 is set to be semicircular. A stop pin 8 is rotatably connected to the center of the escape portion 7. The length of the stop pin 8 is set to be the same as the radius of the escape portion 7. The side of the through slot 51 away from the visual sensor 4 is set tangent to the escape portion 7, that is, the stop pin 8 can be rotated to abut against the side of the through slot 51 away from the visual sensor 4, so as to achieve a blocking and limiting effect on the transparent sheet 6, thereby preventing the movement of the robot body 1 during welding from throwing the transparent sheet 6 out of the through slot 51.

[0024] Two magnetic strips 9 are embedded in the avoidance portion 7, and the magnetic strips 9 are symmetrically arranged about the rotation connection point of the stop pin 8, and the two magnetic strips 9 are arranged perpendicular to the through slot 51. A magnetic strip 9 is also embedded on the side surface of the stop pin 8 close to the avoidance portion 7, that is, the magnetic strip 9 can be used to limit the rotation of the stop pin 8. Further, when welding or replacing the transparent sheet 6, the stop pin 8 is rotated to the positions corresponding to the two different magnetic strips 9 arranged in the avoidance portion 7, so that it can be limited and fixed by the magnetic force of the magnetic strip 9.

[0025] In summary, the utility model can achieve the protection of the visual sensor 4 through the cooperation of the protective cover 5 and the transparent sheet 6, so as to prevent the welding slag from directly splashing onto the lens of the visual sensor 4, and then by regularly replacing the transparent sheet 6, it can prevent the solidified welding from affecting the detection of the visual sensor 4, and at the same time, it can also prevent the high temperature of the welding slag from damaging the lens of the visual sensor 4, further improving the accuracy of the welding robot. Through the cooperation of the stop pin 8 and the magnetic strip 9, the transparent sheet 6 can be limited, and it can also be more convenient to replace the transparent sheet 6.

[0026] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0027] In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0029] The term "comprise" or any other similar term is intended to cover a non-exclusive inclusion, such that a process, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article, or apparatus / device.

[0030] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A welding robot based on visual detection, comprising a robot body (1), a welding gun (2) being mounted at the free end of the robot body (1), a welding rod (3) being mounted at one end of the welding gun (2) facing away from the robot body (1), a visual sensor (4) being mounted on the welding gun (2), a lens of the visual sensor (4) being arranged toward the welding rod (3), characterized in that: The welding gun (2) is also provided with a protective cover (5), the protective cover (5) being arranged on the lens of the visual sensor (4), and the end of the protective cover (5) facing away from the visual sensor (4) is detachably connected with a transparent sheet (6).

2. The welding robot based on visual detection according to claim 1, characterized in that: A through slot (51) is provided on one side plate of the protective cover (5), and a limiting slot (52) matching the through slot (51) is provided on the inner surface of the other side plate; the transparent sheet (6) passes through the through slot (51) and is plugged into the limiting slot (52).

3. The welding robot based on visual detection according to claim 2, characterized in that: A relief portion (7) is also provided on the outer surface of a side plate of the protective cover (5) on which the through slot (51) is provided. A stop pin (8) is rotatably connected inside the relief portion (7). The stop pin (8) is used to block the through slot (51) to limit the position of the transparent sheet (6).

4. The welding robot based on visual detection according to claim 3 is characterized in that: Two magnetic strips (9) are embedded in the avoidance portion (7), the two magnetic strips (9) are symmetrically arranged about the rotation connection point of the stop pin (8), and the magnetic strips (9) are arranged perpendicular to the through groove (51); a magnetic strip (9) is also embedded on a side surface of the stop pin (8) close to the avoidance portion (7).

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