Automatic welding device based on machine vision

Abstract

The utility model discloses an automatic welding device based on machine vision, which utilizes a clamping unit, an image acquisition unit, an indication unit and an indication acquisition unit to collect images after clamping a workpiece, and performs angle positioning on the indication unit and the indication acquisition unit in the rotating process of the workpiece. Multi-angle image collection can be conducted on a workpiece, the position of a welding point is judged according to image collection, the welding precision is improved, and the problem that in the prior art, the welding precision of a welding device is too low can be solved. The number of the indicating units is a multiple of 4, so that each clamping unit can be positioned in a 90-degree increment mode during rotation, the welding positioning precision can be improved, the angle between the adjacent indicating units is adjusted by specifying the number of the indicating units, and the accuracy between the image collecting unit and the indicating collecting unit is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece welding, in particular to an automatic welding device based on machine vision. Background Art

[0002] With the development of society, welding is used in more and more places, and welding equipment is also developing rapidly. The welding material is heated by the welding head to make the welding material fuse and connect, so that two welding workpieces are connected together, and the welding table is one of the devices used for welding workpieces.

[0003] Prior art CN 208758867 U discloses a workpiece welding device, including a bracket, a crossbeam, a workpiece welding fixture and a welding trolley, wherein the crossbeam is horizontally and rotatably arranged on the bracket, the workpiece welding fixture is arranged on one side of the crossbeam and clamps the workpiece to be welded, and a guide rail is provided along the length direction of the crossbeam on the other side of the crossbeam adjacent to the workpiece welding fixture, and the welding trolley travels on the guide rail and welds the workpiece, but since the welding trolley is moved during welding, the welding accuracy is reduced, resulting in welding defects.

[0004] Therefore, it is necessary to improve the welding device in the prior art to solve the above problems. Summary of the invention

[0005] The utility model overcomes the shortcomings of the prior art and provides an automatic welding device based on machine vision, aiming to solve the problem of low welding precision of the welding device in the prior art.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: an automatic welding device based on machine vision, comprising: a frame, and a welding unit, an image acquisition unit and a plurality of clamping units respectively arranged on the frame, characterized in that:

[0007] Each of the clamping units comprises: a clamping motor, a clamping rod fixedly connected to the clamping motor, and a clamping turntable fixedly connected to the clamping rod; the clamping motor is fixedly connected to the frame, the clamping motor drives the clamping rod to rotate, a clamping assembly is arranged on the clamping turntable, and there is a vertical plane so that adjacent clamping units are symmetrically distributed;

[0008] The image acquisition unit is located directly above the plurality of clamping units and between adjacent clamping units. At least one of the clamping turntables has a plurality of indication units distributed circumferentially, and the distribution centers of the plurality of indication units coincide with the axis of the clamping rod. The clamping motor is fixedly provided with an indication acquisition unit, and the indication acquisition unit is used to record the positions of the plurality of indication units.

[0009] The frame is provided with a processing unit.

[0010] In a preferred embodiment of the utility model, the welding machine unit includes: a welding machine body and a welding machine base fixedly arranged on the welding machine body; a welding machine guide rail is fixedly arranged on the frame, the welding machine base is slidably connected to the welding machine guide rail, and the welding machine base drives the welding machine body to move horizontally and linearly.

[0011] In a preferred embodiment of the utility model, the welding machine body and the plurality of clamping rods are located in the same horizontal plane.

[0012] In a preferred embodiment of the utility model, the moving direction straight line of the welding machine body is parallel to the axis of the clamping rod.

[0013] In a preferred embodiment of the present invention, the straight line of movement direction of the clamping unit is parallel to the axis of the clamping rod.

[0014] In a preferred embodiment of the utility model, each of the clamping units is provided with a height adjustment mechanism, and the height adjustment mechanism drives the welding machine body to perform vertical movement.

[0015] In a preferred embodiment of the utility model, the indication collection unit is arranged horizontally, and there is a connection line between the indication unit and the indication collection unit parallel to the axis of the clamping rod.

[0016] In a preferred embodiment of the present invention, the number of the indicating units is a multiple of 4.

[0017] In a preferred embodiment of the present invention, a moving mechanism is provided on the clamping unit, and the moving mechanism drives the clamping unit to perform horizontal linear motion.

[0018] In a preferred embodiment of the present invention, the indication acquisition unit, the clamping rod and the image acquisition unit are all located on the same vertical plane.

[0019] The utility model solves the defects existing in the background technology, and has the following beneficial effects:

[0020] (1) The utility model provides an automatic welding device based on machine vision, which utilizes a clamping unit, an image acquisition unit, an indicating unit and an indicating acquisition unit to clamp a workpiece and then collect images, and performs angle positioning on the workpiece through the indicating unit and the indicating acquisition unit during its rotation. Compared with the workpiece welding device in the prior art, it can collect images of the workpiece at multiple angles, and determine the position of the welding point based on the image collection, thereby improving the welding accuracy and solving the problem of too low welding accuracy of the welding device in the prior art.

[0021] (2) A welding machine guide rail is fixedly arranged on the frame, and the welding machine base is slidably connected to the welding machine guide rail. The welding machine base drives the welding machine body to move horizontally in a straight line. The movement direction of the welding machine body is parallel to the axis of the clamping rod, so that the welding machine body can be adjusted according to the welding point. Compared with the existing technology, it can improve the flexibility of adjustment, enhance the welding accuracy, and have adjustment adaptability.

[0022] (3) The number of the plurality of indicating units is a multiple of 4, so that each clamping unit can be positioned in increments of 90 degrees when rotating. Compared with the prior art, the accuracy of welding positioning can be improved. By specifying the number of indicating units, the angle between adjacent indicating units can be adjusted to ensure the accuracy between the image acquisition unit and the indicating acquisition unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0024] Figure 1 It is a three-dimensional structural diagram of a preferred embodiment of the utility model;

[0025] Figure 2 It is a stereoscopic diagram of a clamping unit of a preferred embodiment of the utility model;

[0026] In the figure: 100, frame; 110, welding machine guide rail; 200, welding machine unit; 210, welding machine body; 220, welding machine base; 300, image acquisition unit; 400, clamping unit; 410, clamping motor; 420, clamping rod; 430, clamping turntable; 440, indication acquisition unit. DETAILED DESCRIPTION

[0027] The present invention will now be further described in detail in conjunction with the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0028] like Figure 1 and Figure 2 As shown, an automatic welding device based on machine vision includes: a frame 100, and a welding unit 200, an image acquisition unit 300 and a plurality of clamping units 400 respectively arranged on the frame 100.

[0029] Each clamping unit 400 includes: a clamping motor 410, a clamping rod 420 fixedly connected to the clamping motor 410, and a clamping turntable 430 fixedly connected to the clamping rod 420; the clamping motor 410 is fixedly connected to the frame 100, the clamping motor 410 drives the clamping rod 420 to rotate, and a clamping assembly is arranged on the clamping turntable 430, and there is a vertical plane so that adjacent clamping units 400 are symmetrically distributed, and the clamping assembly is a component such as a claw or a clamping plate that can clamp the workpiece. The two clamping units 400 are symmetrically distributed, which can effectively clamp the workpiece and facilitate the subsequent welding process. The clamping motor 410 can be a servo motor, which can clearly determine the rotation angle during the adjustment process.

[0030] The image acquisition unit 300 is located directly above the plurality of clamping units 400 and between adjacent clamping units 400. There is at least one clamping turntable 430 on which a plurality of indication units are distributed circumferentially. The centers of the distribution circles of the plurality of indication units coincide with the axis of the clamping rod 420. An indication acquisition unit 440 is fixedly provided on the clamping motor 410. The indication acquisition unit 440 is used to record the positions of the plurality of indication units. The indication unit is a mark, which is one of a color mark and a shape mark. The position of the indication unit can be obtained by adjusting the rotation of the clamping turntable 430, and the rotation position can be obtained by the position of the indication unit. Both the image acquisition unit 300 and the indication acquisition unit 440 are cameras. The image acquisition unit 300 acquires images of the weld on the workpiece, and the indication acquisition unit 440 acquires images of the indication unit.

[0031] A processing unit is provided on the frame 100. The processing unit can be a component such as a computer, which can collect information collected by the image acquisition unit 300 and the indication acquisition unit 440, process the information to obtain welding points, and adjust the position of the welding unit 200 according to the welding points. The processing unit controls the clamping unit 400, the image acquisition unit 300 and the welding unit 200 respectively, so that they can work in coordination.

[0032] The welding machine unit 200 includes: a welding machine body 210 and a welding machine base 220 fixedly arranged on the welding machine body 210; a welding machine guide rail 110 is fixedly arranged on the frame 100, and the welding machine base 220 is slidably connected with the welding machine guide rail 110, and the welding machine base 220 drives the welding machine body 210 to move horizontally and linearly. The welding machine body 210 includes a welding gun and a welding gun power source, and the welding gun power source provides power for the welding gun, and the welding gun directly provides welding capability.

[0033] The welding machine body 210 and the plurality of clamping rods 420 are located in the same horizontal plane, so that the welding machine body 210 can directly weld the workpiece, so that the welding point and the welding machine body 210 are located in the horizontal plane, forming a right angle with the image acquisition unit, and the welding point can be accurately positioned.

[0034] The moving direction of the welding machine body 210 is parallel to the axis of the clamping rod 420, and the moving direction of the clamping unit 400 is parallel to the axis of the clamping rod 420. When welding workpieces, the horizontal adjustment can be performed according to the position of the welding point, and the welding of non-vertical cracks can be adapted.

[0035] Each clamping unit 400 is provided with a height adjustment mechanism, which drives the welder body 210 to move vertically. According to different workpieces, the height of different workpieces is adjusted so that the workpieces can automatically match the position of the welder body 210.

[0036] The indication acquisition unit 440 is arranged horizontally, and the connection line between the indication unit and the indication acquisition unit 440 is parallel to the axis of the clamping rod 420 . The indication acquisition unit 440 , the clamping rod 420 and the image acquisition unit 300 are all located on the same vertical plane.

[0037] When the indication unit is recorded by the indication acquisition unit 440, it is located in a horizontal position, and the line between the indication unit and the indication acquisition unit 440 and the image acquisition unit 300 are located in the same vertical plane, which can enhance the position information of the welding point and improve the welding accuracy.

[0038] The number of the plurality of indicating units is a multiple of 4. The number of the plurality of indicating units is a multiple of 4, so that each clamping unit can be positioned in increments of 90 degrees when rotating, which can improve the accuracy of welding positioning, and the angle between adjacent indicating units is adjusted by specifying the number of indicating units, thereby ensuring the accuracy between the image acquisition unit and the indicating acquisition unit.

[0039] Each clamping unit 400 is provided with a moving mechanism, which drives the clamping unit 400 to perform horizontal linear motion. The positions between adjacent clamping units 400 can be adjusted so that adjacent clamping units 400 can weld workpieces of different lengths and provide convenience during loading and unloading. The welding machine base 220 and the moving mechanism are respectively provided with moving motors, which can provide power and adjust the moving relationship between the welding machine base 220 and the moving mechanism.

[0040] When the automatic welding device is working, the two ends of the workpiece with a non-vertical crack are clamped by the clamping components respectively, and after the position of the welding unit 200 is adjusted, the welding unit 200 and the image acquisition unit 300 are located in the same vertical plane perpendicular to the axis of the workpiece, and the image acquisition unit 300 is located directly above the crack.

[0041] The clamping motor 410 is started to rotate the clamping turntable 430, and the crack point of the non-vertical crack is determined by the image acquisition unit 300. The indication acquisition unit 440 records the position of the indication unit on the clamping turntable 430 at this time. During the rotation of the clamping turntable 430, the indication acquisition unit 440 rotates 90 degrees according to the indication unit position determination. The welding machine unit 200 moves horizontally to the welding point according to the crack point previously determined by the image acquisition unit 300, completes the welding of the welding point, and completes the welding process of the workpiece in the accumulation process of multiple welding points.

[0042] The above is based on the ideal embodiment of the utility model. Through the above description, relevant personnel can make various changes and modifications without deviating from the technical concept of the utility model. The technical scope of this utility model is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. An automatic welding device based on machine vision, comprising: A frame (100), and a welding unit (200), an image acquisition unit (300) and a plurality of clamping units (400) respectively arranged on the frame (100), characterized in that: Each of the clamping units (400) comprises: a clamping motor (410), a clamping rod (420) fixedly connected to the clamping motor (410), and a clamping turntable (430) fixedly connected to the clamping rod (420); the clamping motor (410) is fixedly connected to the frame (100), the clamping motor (410) drives the clamping rod (420) to rotate, and a clamping assembly is arranged on the clamping turntable (430), and there is a vertical plane so that adjacent clamping units (400) are symmetrically distributed; The image acquisition unit (300) is located directly above the plurality of clamping units (400) and between adjacent clamping units (400); at least one of the clamping turntables (430) has a plurality of indication units distributed circumferentially, the distribution centers of the plurality of indication units coincide with the axis of the clamping rod (420); an indication acquisition unit (440) is fixedly arranged on the clamping motor (410), and the indication acquisition unit (440) is used to record the positions of the plurality of indication units; The frame (100) is provided with a processing unit.

2. The automatic welding device based on machine vision according to claim 1, characterized in that: The welding machine unit (200) comprises: a welding machine body (210) and a welding machine base (220) fixedly arranged on the welding machine body (210); a welding machine guide rail (110) is fixedly arranged on the frame (100), the welding machine base (220) is slidably connected to the welding machine guide rail (110), and the welding machine base (220) drives the welding machine body (210) to move horizontally and linearly.

3. The automatic welding device based on machine vision according to claim 2, characterized in that: The welding machine body (210) and the plurality of clamping rods (420) are located on the same horizontal plane.

4. The automatic welding device based on machine vision according to claim 2, characterized in that: The moving direction straight line of the welding machine body (210) is parallel to the axis of the clamping rod (420).

5. The automatic welding device based on machine vision according to claim 4, characterized in that: The straight line of movement direction of the clamping unit (400) is parallel to the axis of the clamping rod (420).

6. The automatic welding device based on machine vision according to claim 2, characterized in that: Each of the clamping units (400) is provided with a height adjustment mechanism, and the height adjustment mechanism drives the welding machine body (210) to move vertically.

7. The automatic welding device based on machine vision according to claim 1, characterized in that: The indication collection unit (440) is arranged horizontally, and there is a connection line between the indication unit and the indication collection unit (440) parallel to the axis of the clamping rod (420).

8. The automatic welding device based on machine vision according to claim 1, characterized in that: The number of the plurality of indicating units is a multiple of 4.

9. The automatic welding device based on machine vision according to claim 1, characterized in that: Each of the clamping units (400) is provided with a moving mechanism, and the moving mechanism drives the clamping unit (400) to perform horizontal linear movement.

10. The automatic welding device based on machine vision according to claim 1, characterized in that: The indication acquisition unit (440), the clamping rod (420) and the image acquisition unit (300) are all located on the same vertical plane.

Images