Weld joint deviation rectifying device based on visual weld joint tracking system

Abstract

The utility model discloses a welding seam deviation rectifying device based on a visual welding seam tracking system, which comprises a mechanical arm, a fixing frame is arranged at the end part of the mechanical arm, and an image detector and a welding gun are respectively arranged on the fixing frame; an angle deviation rectifying assembly and a displacement deviation rectifying assembly are arranged between the mechanical arm and the fixing frame, and the angle deviation rectifying assembly and the displacement deviation rectifying assembly are connected with each other to form a deviation rectifying mechanism used for finely adjusting the fixing frame; and the deviation rectification rotation angle of the angle deviation rectification assembly and the deviation rectification moving distance of the displacement deviation rectification assembly are determined according to a welding seam path obtained through scanning of the image detector. According to the utility model, an angle and displacement independent double-control mode is adopted, and the angle correction assembly and the displacement correction assembly are arranged at the end part of the mechanical arm; and the angle deviation rectifying assembly is controlled to directly or indirectly rotate the orientation angle of the welding gun, and the displacement deviation rectifying assembly is controlled to directly or indirectly move the welding position of the welding gun, so that the welding gun is finely adjusted in real time to accurately weld along the actual welding line path.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic welding, in particular to a weld deviation correction device based on a visual weld tracking system. Background Art

[0002] During the welding process, the workpiece may have the problem of weld deviation due to assembly errors, material high temperature deformation, etc., which affects the strength of the weld. Therefore, in order to reduce the impact of the weld on the welding strength, the weld needs to be corrected.

[0003] At present, a visual weld tracking system is usually used to correct welds. The visual weld tracking system is a commonly used weld correction technology for machine welding. That is, the weld path is obtained by machine vision and the robot arm is controlled to perform welding based on the obtained path. During the welding process, the weld condition of the welding path is detected in real time, and the welding path of the robot arm is adjusted in real time according to the offset of the weld, so as to achieve the purpose of weld correction and ensure the strength of the welding.

[0004] Although the weld deviation correction can be well accomplished by directly adjusting the robot arm, the robot arm is usually composed of multiple arm components that are connected in a rotating manner to enable it to have multiple rotational degrees of freedom adjustment functions. Therefore, when the rotating welding gun adjusts the welding direction angle, it is usually only necessary to rotate the end component of the robot arm to meet the requirement. However, when the welding gun needs to be fine-tuned by translation, multiple components need to be rotated in coordination to achieve the purpose of translation. There is a certain error in the movement of each component. The simultaneous adjustment of the synthetic translation route of multiple components will further affect the accuracy of the deviation correction, which will cause the robot arm to be frequently adjusted during the welding process, making it difficult to accurately match the welding path and the weld, thereby affecting the quality after welding. Utility Model Content

[0005] The utility model aims to provide a weld correction device based on a visual weld tracking system to solve the technical problem in the prior art that during the translation adjustment of the welding gun by a robot arm, multiple parts need to be adjusted synchronously, resulting in insufficient adjustment accuracy and frequent adjustments, thereby affecting the welding quality.

[0006] In order to solve the above technical problems, the utility model specifically provides the following technical solutions:

[0007] A weld deviation correction device based on a visual weld tracking system comprises a mechanical arm, a fixing frame is arranged at the end of the mechanical arm, an image detector and a welding gun are arranged on the fixing frame respectively, and the image detector is arranged in the center, and the head of the welding gun is located in the middle of the field of view of the image detector;

[0008] An angle correction component and a displacement correction component are respectively arranged between the mechanical arm and the fixed frame, and the angle correction component and the displacement correction component are connected to each other to form a correction mechanism for horizontally moving and / or rotating the fixed frame;

[0009] Wherein, the correction rotation angle of the angle correction component and the correction movement distance of the displacement correction component are both determined according to the weld path obtained by scanning by the image detector.

[0010] As a preferred solution of the utility model, the angle correction component is installed on the mechanical arm, and the displacement correction component is installed on the fixing frame;

[0011] Or the displacement correction component is installed on the mechanical arm, and the angle correction component is installed on the fixed frame.

[0012] As a preferred solution of the utility model, the angle correction assembly includes a connecting plate, a turntable is arranged at the bottom of the connecting plate, and an angle correction motor is arranged on the connecting plate, and the angle correction motor drives the turntable to rotate;

[0013] The connecting plate is installed on the mechanical arm, or on the displacement correction component.

[0014] As a preferred solution of the utility model, at least two ear plates are arranged on the side wall of the connecting plate, each of the ear plates is provided with an angle correction motor, and the shaft of the angle correction motor extends to the bottom of the ear plate and is provided with a driving gear;

[0015] The outer wall of the rotating disk has symmetrically arranged tooth grooves, the distribution of the tooth grooves corresponds one-to-one to the distribution of the driving gears, and the tooth grooves on the rotating disk are matched with the driving gears.

[0016] As a preferred solution of the utility model, the displacement correction assembly includes a track base, a track slider is slidably arranged on the track base, the track base is installed at the end of the mechanical arm, and the track slider is installed on the angle correction assembly;

[0017] Or the track base is installed on the angle correction component, and the track slider is installed on the fixing frame.

[0018] As a preferred solution of the utility model, the fixing frame includes a fixing plate, the middle of the fixing plate is provided with a hole for installing the image detector, a plurality of heightening rods are arranged on the fixing plate, the upper ends of the plurality of heightening rods are commonly provided with an assembly plate, and the gun handle of the welding gun is placed between the fixing plate and the assembly plate;

[0019] The assembly plate is mounted on the angle correction component or the displacement correction component.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] The utility model adopts an independent dual control method of angle and displacement, and arranges an angle correction component and a displacement correction component at the end of the robot arm, so as to control the angle correction component to directly or indirectly rotate the orientation angle of the welding gun and control the displacement correction component to directly or indirectly move the welding position of the welding gun according to the detection data of the image detector, so as to fine-tune the welding gun in real time to achieve precise welding along the actual weld path. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the first embodiment of the utility model;

[0024] Figure 2 It is a partial structural schematic diagram of the angle correction assembly of Embodiment 1 and Embodiment 2 of the present utility model;

[0025] Figure 3 It is a partial structural schematic diagram of the displacement correction assembly of the first and second embodiments of the utility model;

[0026] Figure 4 It is a schematic diagram of the structure of the fixing frame part of the first embodiment and the second embodiment of the utility model;

[0027] Figure 5 This is a schematic diagram of the structure of the second embodiment of the present utility model.

[0028] The numbers in the figure represent the following:

[0029] 1-Robotic arm; 2-Fixed frame; 3-Image detector; 4-Welding gun; 5-Angle correction component; 6-Displacement correction component;

[0030] 21-fixed plate; 22-heightening rod; 23-assembly plate; 51-connecting plate; 52-ear plate; 53-angle correction motor; 61-track base; 62-track slider;

[0031] 511-turntable; 531-driving gear. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0033] like Figure 1 As shown, the utility model provides a weld deviation correction device based on a visual weld tracking system, comprising a mechanical arm 1, a fixing frame 2 is arranged at the end of the mechanical arm 1, an image detector 3 and a welding gun 4 are arranged on the fixing frame 2, and the image detector 3 is arranged in the center, and the head of the welding gun 4 is located in the middle of the field of view of the image detector 3;

[0034] An angle correction component 5 and a displacement correction component 6 are respectively arranged between the robot arm 1 and the fixed frame 2, and the angle correction component 5 and the displacement correction component 6 are connected to each other to form a correction mechanism for horizontally moving and / or rotating the fixed frame 2;

[0035] Among them, the correction rotation angle of the angle correction component 5 and the correction movement distance of the displacement correction component 6 are both determined according to the weld path scanned and obtained by the image detector 3 .

[0036] The correction device of this embodiment mainly refers to the detection data of the image detector 3, controls the robot arm 1 to move the angle correction component 5 and the displacement correction component 6 according to the original set path, and finely adjusts the rotation angle of the fixed frame 2 through the angle correction component 5, thereby finely adjusting the welding direction angle of the welding gun 4, and finely adjusts the offset distance of the fixed frame 2 through the displacement correction component 6, thereby finely adjusting the welding deviation of the welding gun 4, then the angle correction component 5 cooperates with the displacement correction component 6 to adjust the welding path of the welding gun 4 with high precision, thereby performing real-time correction on the weld path during the welding process, and avoiding deviations in the weld of the robot arm 1 along the original path;

[0037] In the entire correction process, the angle correction component 5 and the displacement correction component 6 are mainly relied on for high-precision adjustment and correction. The robot arm 1 still moves stably along the original path, thereby reducing the relative error, so that the angle correction component 5 and the displacement correction component 6 can accurately adjust the angle and offset of the welding gun 4, avoiding frequent adjustments of the weld due to insufficient precision that affect the weld quality.

[0038] Compared with the existing correction device for adjusting the robot arm 1, the correction device of this embodiment further provides an angle correction component 5 for adjusting the angle of the welding gun 4 and a displacement correction component 6 for adjusting the offset of the welding gun 4 on the robot arm 1, so that the welding gun 4 can accurately adjust the welding path in real time according to the detection data of the image detector 3 to avoid deviation from the weld.

[0039] Among them, adjusting the robot arm 1 based on the image detector 3 so that the welding gun 4 follows the real-time weld path movement belongs to conventional technology. Specifically, the image detector 3 scans before the welding path and displays the weld on the display. The image detector 3 is connected to the system, and the system analyzes the welding point and path deviation of the welding gun 4 according to the scanned image, and adjusts the welding movement angle and welding displacement distance of the welding gun 4 in real time according to the analysis and calculation of the deviation, so that the welding gun 4 can move and weld following the changes of the weld. The specific control process is a commonly used control method in existing machine welding technology and is a relatively mature technology.

[0040] During the correction process, the angle correction component 5 adjusts the welding direction angle, and the displacement correction component 6 adjusts the distance of the welding deviation from the original path. The combination of the two can make the path transition smoother, thereby avoiding the step-like appearance of the weld and affecting the firmness of the welding. Based on this, two correction embodiments are provided below.

[0041] Embodiment 1:

[0042] like Figure 1 and Figure 2 As shown, the angle correction component 5 is installed on the robot arm 1, and the displacement correction component 6 is installed on the fixed frame 2.

[0043] The angle correction component 5 includes a connecting plate 51, a rotating disk 511 is arranged at the bottom of the connecting plate 51, and an angle correction motor 53 is arranged on the connecting plate 51, and the angle correction motor 53 drives the rotating disk 511 to rotate;

[0044] The connecting plate 51 is mounted on the robot arm 1 .

[0045] In this embodiment, the angle correction assembly 5 is located above the displacement correction assembly 6. When the angle correction motor 53 controls the rotation of the turntable 511, the displacement correction assembly 6 is rotated synchronously, thereby realizing the correction of weld deviation in all directions.

[0046] And because the angle correction component 5 rotates and the displacement correction component 6 is corrected, the welding gun 4 can achieve large-angle rapid correction along the original welding path, which is particularly suitable for correcting welds where the workpiece is easily deformed during welding and has low welding requirements.

[0047] Embodiment 2:

[0048] like Figure 2 and Figure 5 As shown, the displacement correction component 6 is installed on the robot arm 1, and the angle correction component 5 is installed on the fixed frame 2.

[0049] The angle correction component 5 includes a connecting plate 51, a rotating disk 511 is arranged at the bottom of the connecting plate 51, and an angle correction motor 53 is arranged on the connecting plate 51, and the angle correction motor 53 drives the rotating disk 511 to rotate;

[0050] The connecting plate 51 is installed on the displacement correction assembly 6 .

[0051] In this embodiment, the displacement correction component 6 is located above the angle correction component 5, so the displacement correction component 6 can control the displacement of the connecting plate 51, and the angle correction motor 53 can drive the turntable 511 on the connecting plate 51 to rotate, thereby realizing the correction of weld deviation in all directions.

[0052] And because the displacement correction component 6 moves the angle correction component 5 for correction, the welding gun 4 can achieve fine correction of small angles along the original welding path, which is particularly suitable for correcting welds where the workpiece is not easily deformed during welding but has high welding requirements.

[0053] Based on Embodiment 1 and Embodiment 2, a specific method of driving the turntable 511 by the angle correction motor 53 is provided below.

[0054] like Figure 2 As shown, at least two ear plates 52 are provided on the side wall of the connecting plate 51, and an angle correction motor 53 is provided on each ear plate 52, and the shaft of the angle correction motor 53 extends to the bottom of the ear plate 52 and is provided with a driving gear 531;

[0055] The outer wall of the rotating disk 511 has symmetrically arranged teeth and grooves, the distribution of the teeth and grooves corresponds one to one with the distribution of the driving gear 531 , and the teeth and grooves on the rotating disk 511 match with the driving gear 531 .

[0056] Specifically, the angle correction motor 53 works to rotate the driving gear 531, and the driving gear 531 can drive the turntable 511 to rotate through the teeth. Since the distance of the weld offset is usually limited, the turntable 511 adopts a teeth-groove method to mesh with the driving gear 531, and the angle correction motor 53 always works within one circle of forward and reverse rotation, which can not only ensure the accuracy of the adjustment, but also ensure the speed of the adjustment, thereby improving the sensitivity of the adjustment.

[0057] Based on Example 1 and Example 2, a preferred embodiment of the displacement correction component 6 is provided below.

[0058] like Figure 3 As shown, the displacement correction assembly 6 includes a track base 61 , on which a track slider 62 is slidably arranged.

[0059] Specifically, the track slider 62 slides on the track base 61. By controlling the position of the track slider 62, the displacement correction of the angle correction component 5 or the fixed frame 2 can be achieved. The track slider 62 preferably adopts electromagnetic control, which has faster adjustment speed and higher sensitivity.

[0060] Since the welding gun 4 needs to be mounted on the fixing frame 2 for use, and the handle of the welding gun 4 needs to be connected to consumables, the following preferred embodiments are provided in order not to affect the feeding of the consumables.

[0061] like Figure 4 As shown, the fixing frame 2 includes a fixing plate 21, the middle of the fixing plate 21 is provided with a hole for installing the image detector 3, a plurality of heightening rods 22 are arranged on the fixing plate 21, and a mounting plate 23 is arranged on the upper ends of the plurality of heightening rods 22, and the gun handle of the welding gun 4 is placed between the fixing plate 21 and the mounting plate 23

[0062] Specifically, the fixing frame 2 adopts a double-layer structure of a fixing plate 21 and an assembly plate 23 , and the feeding portion of the handle of the welding gun 4 can be placed between the fixing plate 21 and the assembly plate 23 , so as not to affect the feeding of the consumables.

[0063] Furthermore, the heightening rods 22 of the fixing plate 21 and the assembly plate 23 can be replaced according to actual needs, or designed as retractable rods, so as to be adjustable.

[0064] Of course, in order to protect the image detector 3, during the actual assembly process, technicians can design and adjust the assembly distance between the welding point of the welding gun 4 and the fixed plate 21 to ensure that a sufficient safety distance is reserved between the welding point of the image detector 3 and the welding gun 4, thereby preventing the image detector 3 from being damaged by splashing welding slag.

[0065] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A weld deviation correction device based on a visual weld tracking system, characterized in that: The invention comprises a mechanical arm (1), wherein a fixing frame (2) is arranged at the end of the mechanical arm (1), an image detector (3) and a welding gun (4) are arranged on the fixing frame (2), and the image detector (3) is arranged in the center, and the head of the welding gun (4) is located in the middle of the field of view of the image detector (3); An angle correction component (5) and a displacement correction component (6) are respectively arranged between the mechanical arm (1) and the fixed frame (2); the angle correction component (5) and the displacement correction component (6) are connected to each other to form a correction mechanism for horizontally moving and / or rotating the fixed frame (2); The correction rotation angle of the angle correction component (5) and the correction movement distance of the displacement correction component (6) are both determined based on the weld path scanned and acquired by the image detector (3).

2. According to claim 1, a weld deviation correction device based on a visual weld tracking system is characterized in that: The angle correction component (5) is installed on the mechanical arm (1), and the displacement correction component (6) is installed on the fixed frame (2); Or the displacement correction component (6) is installed on the mechanical arm (1), and the angle correction component (5) is installed on the fixed frame (2).

3. The weld deviation correction device based on the visual weld tracking system according to claim 2 is characterized in that: The angle correction component (5) comprises a connecting plate (51), a rotating disk (511) is arranged at the bottom of the connecting plate (51), and an angle correction motor (53) is arranged on the connecting plate (51), and the angle correction motor (53) drives the rotating disk (511) to rotate; The connecting plate (51) is mounted on the mechanical arm (1) or on the displacement correction component (6).

4. The weld deviation correction device based on the visual weld tracking system according to claim 3 is characterized in that: At least two ear plates (52) are arranged on the side wall of the connecting plate (51), and each ear plate (52) is provided with an angle correction motor (53), and the shaft of the angle correction motor (53) extends to the bottom of the ear plate (52) and is provided with a driving gear (531); The outer wall of the rotating disk (511) has symmetrically arranged tooth grooves, the distribution of the tooth grooves corresponds one-to-one with the distribution of the driving gear (531), and the tooth grooves on the rotating disk (511) cooperate with the driving gear (531).

5. A weld deviation correction device based on a visual weld tracking system according to any one of claims 2 to 4, characterized in that: The displacement correction component (6) comprises a track base (61), a track slider (62) is slidably arranged on the track base (61), the track base (61) is mounted on the end of the mechanical arm (1), and the track slider (62) is mounted on the angle correction component (5); Or the track base (61) is mounted on the angle correction assembly (5), and the track slider (62) is mounted on the fixing frame (2).

6. The weld deviation correction device based on the visual weld tracking system according to claim 5 is characterized in that: The fixing frame (2) comprises a fixing plate (21), the middle of the fixing plate (21) is provided with a hole for installing the image detector (3), a plurality of heightening rods (22) are arranged on the fixing plate (21), an assembly plate (23) is commonly arranged at the upper ends of the plurality of heightening rods (22), and the gun handle of the welding gun (4) is placed between the fixing plate (21) and the assembly plate (23); The assembly plate (23) is mounted on the angle correction component (5) or the displacement correction component (6).

Images