Visual protection device for welding robot and welding robot thereof

Abstract

The utility model relates to the technical field of automatic welding, and discloses a visual protection device for a welding robot and the welding robot. The vision protection device comprises a protection shell used for accommodating a camera body in an internal cavity; one side of the protective shell is provided with an opening and closing window structure directly facing a lens of the camera body; the opening and closing window structure is used for opening the lens when the camera body is in a shooting state and shielding the lens when the camera body is in a non-shooting state. According to the utility model, arc light, splash, dust and the like in a non-shooting state can be prevented from damaging components such as a camera lens, a light sensing sheet and the like, the components are prevented from being damaged by high temperature under long-time welding operation, and the service life of the camera is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of automated welding, in particular to a vision protection device for a welding robot and a welding robot thereof. Background Art

[0002] During the welding work of the steel structure intelligent welding robot, the 3D camera needs to be placed at the front end of the welding gun. By collecting data to obtain the position information of the welding components and welds, the welding robot generates a welding program (such as planning the movement path of the robot arm, etc.) based on this position information for welding. A single component often needs to go through a repeated process of obtaining position information multiple times and then welding. Each time after obtaining the position information, the 3D camera is idle until it works again when the position information is obtained next time. However, a large amount of arc light, smoke and heat will be generated during welding. Obviously, the arc light will cause damage to the camera's photosensitive film, and the high temperature and smoke will easily cause overheating and short-circuit damage to the components of the 3D camera, thereby affecting the service life of the camera, so it needs to be solved urgently. Utility Model Content

[0003] In order to solve the technical problem in the prior art that the welding process of the welding robot is likely to cause damage to its own 3D camera, thereby affecting the service life, the utility model provides a vision protection device for the welding robot and the welding robot.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] The utility model discloses a vision protection device for a welding robot, comprising a protective shell for accommodating a camera body in an internal cavity; an opening and closing window structure facing a lens of the camera body is arranged on one side of the protective shell; the opening and closing window structure is used to open the lens when the camera body is in a shooting state, and to cover the lens when the camera body is in a non-shooting state.

[0006] As a further improvement of the above solution, the vision protection device also includes a protective cover and a built-in drive assembly; an opening for lens viewing is opened on one side of the protective cover;

[0007] The driving assembly is used to drive the protective cover to perform a flipping action of pulling inward or lifting up, and the protective cover can be pulled inward by the driving assembly to a state of fitting into the protective shell, thereby covering the opening and the driving assembly, thereby forming a flip-type opening and closing window structure.

[0008] As a further improvement of the above-mentioned scheme, the visual protection device also includes a power source shell fixed outside the protective shell and on the adjacent side of the opening; the protective cover is hinged at a notch in the power source shell through a rotating shaft; the driving assembly includes a telescopic part fixed inside the power source shell, the movable end of the telescopic part is hingedly transmitted with the protective cover through a connecting rod located at the notch, and the angle between the protective cover and the opening is adjusted by telescoping the movable end to achieve flipping.

[0009] As a further improvement of the above scheme, the telescopic part adopts a cylinder, and the cylinder is provided with two air inlet ends; two first air inlet pipes are fixedly connected to the power source housing; the two first air inlet pipes are respectively connected to the two air inlet ends; when air is supplied to one of the air inlet ends, the movable end is extended, and when air is supplied to the other air inlet end, the movable end is shortened.

[0010] As a further improvement of the above scheme, an adjusting nut is first threadedly connected to one end of the movable end close to the connecting rod, and then slidably inserted into a support, the adjusting nut is rotationally connected to one side of the support, and the other side of the support is hinged to the connecting rod.

[0011] As a further improvement of the above solution, a camera mounting bracket is detachably mounted on the protective shell, and the camera body is fixed to the cavity of the protective shell through the camera mounting bracket; an opening is opened on the camera mounting bracket, and a sapphire glass piece is embedded inside the opening.

[0012] As a further improvement of the above solution, a second air inlet pipe is fixedly connected to the protective shell; the outlet of the second air inlet pipe is connected to the cavity and is used to introduce dry compressed air into the cavity; a plurality of air outlet holes are also opened on the outside of the protective shell.

[0013] As a further improvement of the above solution, a heat dissipation cover plate is detachably mounted on a side of the protective shell away from the opening; and the second air inlet pipe is mounted on the heat dissipation cover plate.

[0014] As a further improvement of the above solution, a data interface for electrical connection with the camera body is also provided on the outer side of the protective shell.

[0015] The utility model also discloses a welding robot, comprising a camera body for photographing welding components and welding seam positions; and also comprising the above-mentioned vision protection device for the welding robot.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. The utility model provides a protective shell for accommodating a camera body, i.e., a 3D camera, and provides an opening and closing window structure with a lens facing the camera body on one side of the protective shell. The lens is opened when the camera body is in a shooting state, and is shielded when the camera body is in a non-shooting state. This can prevent arc light, splashes, dust, etc. from damaging the camera lens, photosensitive film and other components in the non-shooting state, and prevent high temperature under long-term welding operations from damaging the above components, thereby extending the service life of the camera.

[0018] 2. The utility model provides a flip-type opening and closing window structure, and uses a cylinder to drive a three-section hinged structure to lift or pull back the protective cover, so as to achieve a simple structure, rapid response and reliable effect; at the same time, by building in the drive structure, the protection of the drive structure itself can be taken into account during welding, for example, preventing high temperature from damaging the gas pipeline, and ensuring the stable operation of the visual protection device.

[0019] 3. The utility model sets a threaded adjusting nut at the movable end of the cylinder, and sets the adjusting nut and the support to be rotatably connected, so that the maximum length of the movable end of the cylinder can be adjusted, and the opening and closing angle of the protective cover can be adjusted, so that the protective device is suitable for a variety of working scenarios.

[0020] 4. The utility model introduces dry compressed air into the protective shell through the second air inlet pipe to achieve the heat dissipation effect for the 3D camera. At the same time, it can also generate positive pressure in the protective shell to prevent splashes, smoke and dust from entering the cavity, thereby improving the service life and stability of the 3D camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure is a schematic diagram of the three-dimensional structure of the vision protection device for a welding robot in an embodiment of the utility model.

[0022] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the visual protection device hidden in the sapphire glass piece.

[0023] Figure 3 for Figure 1 Schematic diagram of the three-dimensional structure of the visual protection device from another perspective.

[0024] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the protective shell.

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure inside the power source housing in the embodiment of the utility model.

[0026] Figure 6 It is a three-dimensional structural schematic diagram of the driving assembly and the protective cover in the embodiment of the utility model.

[0027] Figure 7 for Figure 6 Side view of the mid-drive assembly and protective cover.

[0028] In the figure: 1. Camera body; 11. Lens; 2. Protective shell; 21. Opening; 22. Cavity; 23. Camera mounting bracket; 24. Air outlet; 25. Heat dissipation cover; 26. Data interface; 3. Protective cover; 31. Rotating shaft; 4. Driving assembly; 41. Telescopic member; 411. Movable end; 412. Inlet end; 42. Connecting rod; 5. Power source housing; 61. First inlet pipe; 62. Second inlet pipe; 7. Adjusting nut; 8. Support; 9. Sapphire glass sheet. DETAILED DESCRIPTION

[0029] 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.

[0030] See also Figures 1 to 4 An embodiment of the utility model provides a welding robot, including a camera body 1 for photographing welding components and weld positions, and also includes a vision protection device.

[0031] The lens module on the same side of the camera body 1 may be provided with a plurality of lenses 11 .

[0032] The vision protection device includes a protection shell 2 . In this embodiment, the vision protection device may further include a protection cover 3 , a driving assembly 4 and a power source housing 5 .

[0033] The protective shell 2 is used to accommodate the camera body 1 in the internal cavity 22. One side of the protective shell 2 is provided with an opening and closing window structure facing the lens 11 of the camera body 1; the opening and closing window structure is used to open the lens 11 when the camera body 1 is in a shooting state, and to cover the lens 11 when the camera body 1 is in a non-shooting state.

[0034] In this embodiment, the protective shell 2 can be made of aluminum alloy throughout, and a camera mounting bracket 23 is detachably installed on the top. The camera body 1 is fixed to the cavity 22 of the protective shell 2 through the camera mounting bracket 23. A rectangular opening 21 is provided on the camera mounting bracket 23 for the lens 11 to view the scene, and a light-transmitting sapphire glass piece 9 is embedded on the inner side of the opening 21 to prevent dust and splashes generated by welding from contaminating the lens 11 of the camera body 1, especially playing a basic protective role when the camera body 1 is in the shooting state.

[0035] The protective cover 3 can be made of the same material as the protective shell 2, and has the property of being opaque. The protective cover 3 is mainly used to isolate the arc light generated by welding, so as to prevent the arc light from directly acting on the lens 11 and the sapphire glass sheet 9, thereby playing a further protective role. The protective cover 3 can be hinged at a notch of the power source housing 5 through its own rotating shaft 31, and can cover the opening 21, the notch and the driving assembly 4 when flipped to fit the protective shell 2, thereby forming a flip-type opening and closing window structure.

[0036] In other embodiments, other forms of opening and closing window structures may also be used, for example, the protective cover 3 is slidably arranged on the side of the protective shell 2 having the opening 21, and its sliding direction is parallel to the plane where the lens 11 is located, and some linear actuators (such as cylinders) drive the protective cover 3 to translate on the protective shell 2, so that it switches between opening the lens 11 and shielding the lens 11. Of course, the protective cover 3 can also be designed to be similar to the mechanical shutter structure in the camera, consisting of four or more thin metal blades, and the expansion or contraction of the area surrounded by each blade is realized through a mechanical transmission structure, so as to realize the opening and closing window structure.

[0037] See also Figures 5 to 7 In this embodiment, the driving assembly 4 includes a telescopic member 41 fixed on the protective shell 2, and the telescopic member 41 can be a cylinder. The movable end 411 of the telescopic member 41 is hingedly connected to the protective cover 3 through the connecting rod 42, and the angle between the protective cover 3 and the opening 21 is adjusted by the telescopic movement of the movable end 411 to achieve flipping.

[0038] The power source housing 5 is fixed on the protective shell 2 and is located on the adjacent side to the opening 21. The telescopic member 41 is fixedly installed in the power source housing 5. The cylinder is provided with two air inlet ends 412. Two first air inlet pipes 61 are fixedly connected to the power source housing 5, and the two first air inlet pipes 61 form a fixed interface on the power source housing 5. An electric valve can also be provided on the flow path of the first air inlet pipe 61 to control the opening and closing of the air path. The two first air inlet pipes 61 are respectively connected to the two air inlet ends 412. When air is supplied to one of the air inlet ends 412, the movable end 411 is extended, and when air is supplied to the other air inlet end 412, the movable end 411 is shortened.

[0039] Specifically, one side of the protective cover 3 is hinged to the power source housing 5 through the rotating shaft 31, and the two ends of the connecting rod 42 are respectively hinged to the protective cover 3 and the support 8, and these three hinge points form a three-stage hinge structure in the plane. When the movable end 411 of the cylinder is extended, the three-stage hinge structure can lift up the protective cover 3 and finally open the lens 11; when the movable end 411 of the cylinder is shortened, the three-stage hinge structure can pull back the protective cover 3 and finally cover the lens 11.

[0040] The end of the movable end 411 close to the connecting rod 42 is threadedly connected with an adjusting nut 7, which is then slidably inserted into a support 8. The adjusting nut 7 is rotatably connected to one side of the support 8, and the other side of the support 8 is hinged to the connecting rod 42. By rotating the adjusting nut 7, the maximum length of the movable end 411 of the cylinder can be adjusted, so that the opening and closing angle of the protective cover 3 can be adjusted, so that the protective device is suitable for a variety of working scenarios.

[0041] The protective shell 2 is fixedly connected with a second air inlet pipe 62; the outlet of the second air inlet pipe 62 is connected to the cavity 22 and is used to introduce dry compressed air into the cavity 22; a plurality of air outlet holes 24 are also provided on the outer side of the protective shell 2. A heat dissipation cover plate 25 is detachably mounted on the side of the protective shell 2 away from the opening 21; the second air inlet pipe 62 is mounted on the heat dissipation cover plate 25.

[0042] Dry compressed air is introduced into the protective shell 2 through the second air inlet pipe 62, the compressed air flows at a high speed in the cavity 22, and the compressed gas is discharged through the air outlet 24, thereby achieving a heat dissipation effect on the camera body 1. At the same time, a positive pressure can be generated in the protective shell 2 to prevent splashes, smoke, etc. from entering the cavity 22, thereby improving the service life and stability of the 3D camera.

[0043] In some embodiments, the outer side of the protective shell 2 is further provided with a data interface 26 for electrically connecting to the camera body 1 , thereby realizing power supply and data transmission for the camera body 1 .

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A visual protection device for a welding robot, characterized in that: The invention comprises a protective shell (2) for accommodating a camera body (1) in an internal cavity (22); an opening and closing window structure facing a lens (11) of the camera body (1) is arranged on one side of the protective shell (2); the opening and closing window structure is used to open the lens (11) when the camera body (1) is in a shooting state, and to cover the lens (11) when the camera body (1) is in a non-shooting state.

2. A visual protection device for a welding robot according to claim 1, characterized in that: It also includes a protective cover (3) and a built-in drive assembly (4); one side of the protective shell (2) is provided with an opening (21) for the lens (11) to view the scene; The driving assembly (4) is used to drive the protective cover (3) to perform a flipping action of pulling inward or lifting up, and the protective cover (3) can be pulled inward by the driving assembly (4) to a state of being in contact with the protective shell (2), thereby covering the opening (21) and the driving assembly (4), thereby forming a flip-type opening and closing window structure.

3. A visual protection device for a welding robot according to claim 2, characterized in that: The invention also comprises a power source housing (5) fixed outside the protective shell (2) and located on a side adjacent to the opening (21); the protective cover (3) is hingedly connected to a notch of the power source housing (5) via a rotating shaft (31); the driving assembly (4) comprises a telescopic member (41) fixed inside the power source housing (5); the movable end (411) of the telescopic member (41) is hingedly connected to the protective cover (3) via a connecting rod (42) located at the notch, and the included angle between the protective cover (3) and the opening (21) is adjusted by telescoping the movable end (411) to achieve flipping.

4. A visual protection device for a welding robot according to claim 3, characterized in that: The telescopic member (41) adopts a cylinder, and the cylinder is provided with two air inlet ends (412); two first air inlet pipes (61) are fixedly connected to the power source housing (5); the two first air inlet pipes (61) are respectively connected to the two air inlet ends (412); when air is supplied to one of the air inlet ends (412), the movable end (411) is extended, and when air is supplied to the other air inlet end (412), the movable end (411) is shortened.

5. A visual protection device for a welding robot according to claim 4, characterized in that: The end of the movable end (411) close to the connecting rod (42) is firstly threadedly connected with an adjusting nut (7), and then slidably inserted into a support (8), the adjusting nut (7) is rotationally connected to one side of the support (8), and the other side of the support (8) is hinged to the connecting rod (42).

6. A visual protection device for a welding robot according to claim 2, characterized in that: A camera mounting bracket (23) is detachably mounted on the protective shell (2), and the camera body (1) is fixed to the cavity (22) of the protective shell (2) via the camera mounting bracket (23); the opening (21) is formed on the camera mounting bracket (23), and a sapphire glass sheet (9) is embedded and mounted on the inner side of the opening (21).

7. A vision protection device for a welding robot according to any one of claims 1 to 6, characterized in that: A second air inlet pipe (62) is fixedly connected to the protective shell (2); an outlet of the second air inlet pipe (62) is connected to the cavity (22) and is used to introduce dry compressed air into the cavity (22); and a plurality of air outlet holes (24) are also provided on the outer side of the protective shell (2).

8. A visual protection device for a welding robot according to claim 7, characterized in that: A heat dissipation cover plate (25) is detachably mounted on a side of the protective shell (2) away from the opening (21); and the second air inlet pipe (62) is mounted on the heat dissipation cover plate (25).

9. A visual protection device for a welding robot according to claim 8, characterized in that: The outer side of the protective shell (2) is also provided with a data interface (26) for electrically connecting to the camera body (1).

10. A welding robot, comprising a camera body (1) for photographing welding components and weld positions; characterized in that: It also includes a vision protection device for a welding robot as described in claim 9.

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