Back plate robot for laser welding

Abstract

The utility model discloses a backplane robot for laser welding, which relates to the technical field of welding, and comprises a shell, a camera component and a driving component, an accommodating cavity is formed in the shell, a controller and a magnetic adsorption part are arranged in the accommodating cavity, and the magnetic adsorption part is arranged close to the top of the shell. The shell is used for being matched with a steel plate to be welded in a magnetic attraction mode, and a plurality of walking wheels are arranged on the outer side of the shell. The camera shooting assembly is installed on the outer side of the shell and faces the steel plate to be welded, the camera shooting assembly is in communication connection with the controller, and the controller is used for sending images to external welding equipment; the driving assembly is arranged in the containing cavity and used for driving the walking wheels to rotate. The welding seam image of the steel plate to be welded is obtained through the camera shooting assembly, the controller further generates the welding quality and error data of the high-power laser welding equipment through image analysis of the welding seam, the external welding equipment adjusts and optimizes welding parameters according to the welding quality and the error data, and the probability that defects occur when the plate is thick is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of welding equipment, in particular to a back plate robot for laser welding. Background Art

[0002] With the upgrading of equipment manufacturing industry, high-power laser welding has been rapidly popularized. High-power laser welding has the advantages of high power density, strong penetration, fast welding speed, and the vast majority of materials can be welded; but the problems it brings are also very prominent. During the welding process, high-power laser welding can obtain a greater penetration depth. The laser heats and melts to form liquid metal and partially vaporizes, forming high-pressure steam. The high-concentration gas causes the liquid metal to move, forming defects in the center of the molten pool, the upper surface, the lower surface, etc., such as bubbles, cracks, incomplete penetration, and irregular weld convex bodies. Therefore, in practical applications, the probability of defects in thick plate welding is very high. Utility Model Content

[0003] The main purpose of the utility model is to provide a back plate robot for laser welding, aiming at solving the problem that the high power laser welding in the prior art has a high probability of defects when welding thick plates.

[0004] To achieve the above purpose, the laser welding backplane robot proposed in the utility model comprises:

[0005] A shell, wherein a receiving cavity is formed in the shell, wherein a controller and a magnetic adsorption member are arranged in the receiving cavity, wherein the magnetic adsorption member is arranged near the top of the shell and is used for magnetically engaging with the steel plate to be welded, wherein a plurality of running wheels are arranged on the outside of the shell, wherein the plurality of running wheels are all located on the top of the shell and are spaced apart on the outside of the shell, and wherein each of the running wheels is used for rolling contact with the steel plate to be welded;

[0006] A camera assembly, the camera assembly is mounted on the outside of the housing and is disposed toward the steel plate to be welded, the camera assembly is communicatively connected with the controller and is used to take an image of the steel plate to be welded and send it to the controller, and the controller is used to send the image to an external welding device;

[0007] A driving assembly is disposed in the accommodating cavity and is used to drive the walking wheel to rotate. The driving assembly is electrically connected to the controller.

[0008] In one embodiment, the camera assembly includes a first camera and a second camera, the first camera is used to identify the weld on the steel plate to be welded so that the controller controls the laser welding backplane robot to move along the weld, and the second camera is used to take pictures of the weld so that the controller can judge the welding quality data of the weld.

[0009] In one embodiment, the first camera is a narrow spectrum camera, and the second camera is a multi-spectral camera.

[0010] In one embodiment, a first light barrier is disposed on a side of the first camera facing the second camera, and a second light barrier is disposed on a side of the second camera facing the first camera.

[0011] In one embodiment, two rotation driving members are further disposed in the accommodating cavity, and the two rotation driving members are respectively disposed corresponding to the first camera and the second camera and are used to drive the first camera and the second camera to rotate.

[0012] In one embodiment, the number of the magnetic adsorption components is at least two, and at least two of the magnetic adsorption components are arranged at intervals along the length direction of the shell.

[0013] In one embodiment, the magnetic adsorption member is a permanent magnet, and a handle is provided at the bottom of the shell. The handle is connected to the magnetic adsorption member through a screw so that the permanent magnet can be moved closer to or away from the top of the shell by rotating the handle.

[0014] In one embodiment, the driving assembly includes a plurality of driving motors, and the number of the driving motors is consistent with the number of the walking wheels and is arranged in a one-to-one correspondence.

[0015] In one embodiment, an air blowing pipe is disposed on the outer side of the shell, and an air storage tank connected to the air blowing pipe is disposed in the accommodating cavity, and the air blowing pipe is used to blow protective gas to the weld of the steel plate to be welded.

[0016] In one embodiment, grooves are formed on the top, bottom, front and rear of the shell, and a handle is disposed in each groove.

[0017] The technical solution of the utility model is to set a back plate robot for laser welding on a side of the steel plate to be welded away from the welding surface, the back plate robot for laser welding is adsorbed on the bottom surface of the steel plate to be welded through a magnetic adsorption part, and the driving component drives the running wheel on the top of the shell to rotate, and the friction between the running wheel and the bottom surface of the steel plate to be welded drives the shell to move along the bottom of the steel plate to be welded, and the weld image of the steel plate to be welded is obtained through the camera component, and the weld image is sent to the controller, so that the controller controls the driving component and the running wheel to drive the shell to move along the weld, and the controller also generates welding quality and error data of high-power laser welding equipment through image analysis of the weld, and the controller then sends the welding quality and error data to external welding equipment, that is, high-power laser welding equipment, and the external welding equipment adjusts and optimizes welding parameters according to the welding quality and error data to improve subsequent welding quality and reduce the probability of defects in thick plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the positional relationship between the laser welding backplane robot, the steel plate to be welded and the external welding equipment of the utility model;

[0020] Figure 2 A schematic diagram of a top view of an embodiment of a laser welding backplane robot provided by the utility model;

[0021] Figure 3 This is a bottom view structural diagram of an embodiment of a laser welding backplane robot provided by the utility model;

[0022] Figure 4 This is a left-side structural schematic diagram of an embodiment of a laser welding backplane robot provided by the utility model;

[0023] Figure 5 A right side structural schematic diagram of an embodiment of a laser welding backplane robot provided by the utility model;

[0024] Figure 6 A front structural schematic diagram of an embodiment of a laser welding backplane robot provided by the utility model;

[0025] Figure 7 A schematic diagram of the rear view structure of an embodiment of a laser welding backplane robot provided by the utility model;

[0026] Figure 8 This is a schematic cross-sectional structural diagram of an embodiment of a laser welding backplane robot provided by the utility model.

[0027] Description of Figure Numbers:

[0028] 100. Backplane robot for laser welding; 1. Shell; 11. Controller; 12. Magnetic adsorption member; 13. Travel wheel; 14. Rotating drive member; 15. Air blow pipe; 2. Camera assembly; 21. First camera; 22. Second camera; 23. First light baffle; 24. Second light baffle; 3. Drive assembly; 31. Drive motor; 4. Groove; 41. Handle; 50. External welding equipment; 51. Steel plate to be welded.

[0029] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0030] 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 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.

[0031] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0033] Existing high-power laser welding equipment can achieve greater penetration during the welding process. The laser heats and melts to form liquid metal and partially vaporizes to form high-pressure steam. The high-concentration steam causes the liquid metal to move, forming defects in the center of the molten pool, the upper surface, the lower surface, etc., such as bubbles, cracks, incomplete penetration, and irregular weld convex bodies. Therefore, in practical applications, the probability of defects when welding thick plates is very high.

[0034] In order to solve the above problems, the present invention provides a backplane robot 100 for laser welding.

[0035] Please combine Figures 1 to 8In one embodiment of the utility model, the backplane robot 100 for laser welding includes a shell 1, a camera assembly 2 and a drive assembly 3. A receiving cavity is formed in the shell 1, and a controller 11 and a magnetic adsorption member 12 are arranged in the receiving cavity. The magnetic adsorption member 12 is arranged near the top of the shell 1 and is used for magnetically cooperating with the steel plate 51 to be welded. A plurality of running wheels 13 are arranged on the outside of the shell 1. The plurality of running wheels 13 are all located at the top of the shell 1 and are distributed at intervals on the outside of the shell 1. Each running wheel 13 is used for rolling contact with the steel plate 51 to be welded; the camera assembly 2 is installed on the outside of the shell 1 and is arranged toward the steel plate 51 to be welded. The camera assembly 2 is communicatively connected with the controller 11 and is used to capture the image of the steel plate 51 to be welded and send it to the controller 11. The controller 11 is used to send the image to the external welding equipment 50; the drive assembly 3 is arranged in the receiving cavity and is used to drive the running wheel 13 to rotate. The drive assembly 3 is electrically connected to the controller 11.

[0036] It can be understood that the number of running wheels 13 is usually an even number, two running wheels 13 arranged on the left and right sides of the width direction of the shell 1 form a group, and multiple groups of running wheels 13 are arranged at intervals along the length direction of the shell 1. Generally, the number of running wheels 13 is four, and the magnetic adsorption component 12 can be a permanent magnet or an electromagnet, which can be located inside the shell 1 and attached to the top wall of the shell 1, or an opening can be provided on the shell 1 so that the magnetic adsorption component 12 is installed in the opening and flush with the top of the shell 1.

[0037] It should be noted that an analysis module is provided in the controller 11, and a pre-trained deep learning neural network algorithm is stored in the analysis module. The algorithm compares the weld image with the pre-trained qualified weld spectrum data and the obviously unqualified weld spectrum data, determines the type and quantity of each light band in the qualified weld spectrum, as well as the strength, the spectrum distribution range and shape; determines the type and quantity of each light band in the obviously unqualified weld spectrum, as well as the strength, the spectrum distribution range and shape; compares the real-time collected weld spectrum data with the qualified weld spectrum data, and compares the real-time collected weld spectrum data with the obviously unqualified weld spectrum data; calculates two differences, deviates from the set area and the set value, calculates the welding position deviation data and the welding power deviation data, so as to obtain the welding quality and error data, and the algorithm used can adopt the mature algorithm in the prior art.

[0038] The technical solution of the utility model is to set a laser welding backplane robot 100 on a side of the steel plate to be welded away from the welding surface. The laser welding backplane robot 100 (hereinafter referred to as the robot) is adsorbed on the bottom surface of the steel plate 51 to be welded through the magnetic adsorption part 12, and the driving component 3 drives the running wheel 13 on the top of the shell 1 to rotate. The friction between the running wheel 13 and the bottom surface of the steel plate 51 to be welded drives the shell 1 to move along the bottom of the steel plate 51 to be welded. The weld seam image of the steel plate 51 to be welded is obtained through the camera component 2, and the weld seam image is sent to the controller 11, so that the controller 11 controls the driving component 3 and the running wheel 13 to drive the shell 1 to move along the weld seam. The controller 11 also generates welding quality and error data of the high-power laser welding equipment through image analysis of the weld seam. The controller 11 then sends the welding quality and error data to the external welding equipment 50, that is, the high-power laser welding equipment. The external welding equipment 50 adjusts and optimizes the welding parameters according to the welding quality and error data to improve the subsequent welding quality and reduce the probability of defects in thick plates.

[0039] In one embodiment, the camera assembly 2 includes a first camera 21 and a second camera 22. The first camera 21 is used to identify the weld on the steel plate 51 to be welded so that the controller 11 controls the laser welding backplane robot 100 to move along the weld, and the second camera 22 is used to take pictures of the weld to determine the welding quality data of the weld through the controller 11. The first camera 21 is used alone to identify the direction of the weld, improve the recognition accuracy, and enable the robot to accurately and precisely follow the movement of the weld, and the second camera 22 is used to specifically identify the picture of the weld and the details of the weld. Compared with the first camera 21, the second camera 22 pays more attention to the details of the weld on the image, so as to obtain accurate defects and quality data of the weld, and provide more accurate data for the subsequent adjustment of the external welding equipment 50.

[0040] Specifically, the first camera 21 is a narrow spectrum camera, and the second camera 22 is a multi-spectral camera. The narrow spectrum camera focuses on capturing light of a specific wavelength, and can detect the characteristics of the weld very sensitively, so that the robot can accurately track the weld path; and the narrow spectrum camera only focuses on a specific narrow band, which can reduce the interference of ambient light. During the welding process, the narrow spectrum camera can effectively filter out the interference of welding arc and thermal radiation, so that the weld can be seen more clearly. The multi-spectral camera can capture images in multiple wavelength ranges and provide rich spectral information, which is helpful for analyzing the changes of different materials and states during the welding process. Different welding defects (such as pores, cracks, lack of fusion, etc.) have different performances at different wavelengths. The multi-spectral camera can identify these defects by analyzing the information of multiple bands, thereby improving the accuracy of welding quality and error data.

[0041] Furthermore, a first light baffle 23 is provided on the side of the first camera 21 facing the second camera 22, and a second light baffle 24 is provided on the side of the second camera 22 facing the first camera 21. The narrow spectrum camera and the multi-spectral camera operate in different wavelength ranges, and the provision of baffles can prevent interference from the other party's light source, ensuring that each camera only receives light in its target wavelength band. The baffle can shield unnecessary scattered light or reflected light, ensuring that the light signal received by the camera is purer, thereby improving image quality and detection accuracy.

[0042] In one embodiment, two rotating driving members 14 are further provided in the accommodating cavity, and the two rotating driving members 14 are respectively provided corresponding to the first camera 21 and the second camera 22 and are used to drive the first camera 21 and the second camera 22 to rotate. In the specific use process, there will be some irregular-shaped welds or welds close to the edge, which the robot cannot move and sets the welds directly opposite to the first camera 21 and the second camera 22. Therefore, by driving the first camera 21 and the second camera 22 to rotate through the rotating driving member 14, it is suitable for more complex use scenarios, and its flexibility and applicability are improved.

[0043] In one embodiment, the number of magnetic adsorption members 12 is at least two, and at least two magnetic adsorption members 12 are arranged at intervals along the length direction of the shell 1. By providing multiple magnetic adsorption members 12, the stability of adsorption between the shell 1 and the steel plate 51 to be welded is improved, the robot is prevented from falling during movement, and safety is improved.

[0044] Specifically, the magnetic adsorption member 12 is a permanent magnet, and a handle is provided at the bottom of the housing 1. The handle is connected to the magnetic adsorption member 12 through a screw, so that the permanent magnet can be moved closer to or away from the top of the housing 1 by turning the handle. The distance between the permanent magnet and the top of the housing 1 is adjusted by the handle to adjust the size of the adsorption force between the permanent magnet and the steel plate 51 to be welded, and the adjustment is made according to different scenarios, thereby improving flexibility.

[0045] In one embodiment, the driving assembly 3 includes a plurality of driving motors 31, and the number of the driving motors 31 is consistent with the number of the running wheels 13 and is arranged one-to-one. By driving the running wheels 13 to rotate in a one-to-one manner by the plurality of driving motors 31, more flexible maneuvers can be performed in a narrow space, and adjusting the rotation speed and direction of different running wheels 13 can achieve a variety of difficult operations such as fast turning and turning on the spot, thereby improving the flexibility of the robot.

[0046] In one embodiment, a gas blowing pipe 15 is disposed outside the housing 1, and a gas storage tank connected to the gas blowing pipe 15 is disposed in the accommodating cavity. The gas blowing pipe 15 is used to blow shielding gas to the weld of the steel plate 51 to be welded. By blowing shielding gas through the gas blowing pipe 15, it can be fully ensured that the welding point is not oxidized by high temperature, thereby improving the welding quality.

[0047] In one embodiment, grooves 4 are provided at the top, bottom, front and rear of the housing 1, and handles 41 are provided in each groove 4. By providing the grooves 4 and handles 41 in the housing 1, the robot can be easily carried from multiple directions by the handles 41 without adding external protrusions to the housing 1, thereby improving convenience.

[0048] The above are only exemplary embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A backplane robot for laser welding, characterized in that: include: A shell, wherein a receiving cavity is formed in the shell, wherein a controller and a magnetic adsorption member are arranged in the receiving cavity, wherein the magnetic adsorption member is arranged near the top of the shell and is used for magnetically engaging with the steel plate to be welded, wherein a plurality of running wheels are arranged on the outside of the shell, wherein the plurality of running wheels are all located on the top of the shell and are spaced apart on the outside of the shell, and wherein each of the running wheels is used for rolling contact with the steel plate to be welded; A camera assembly, the camera assembly is mounted on the outside of the housing and is disposed toward the steel plate to be welded, the camera assembly is communicatively connected with the controller and is used to take an image of the steel plate to be welded and send it to the controller, and the controller is used to send the image to an external welding device; A driving assembly is disposed in the accommodating cavity and is used to drive the walking wheel to rotate. The driving assembly is electrically connected to the controller.

2. The laser welding backplane robot according to claim 1, characterized in that: The camera assembly includes a first camera and a second camera. The first camera is used to identify the weld on the steel plate to be welded so that the controller can control the laser welding backplane robot to move along the weld. The second camera is used to take pictures of the weld so that the controller can judge the welding quality data of the weld.

3. The laser welding backplane robot according to claim 2, characterized in that: The first camera is a narrow spectrum camera, and the second camera is a multi-spectrum camera.

4. The laser welding backplane robot according to claim 3, characterized in that: A first light barrier is disposed on a side of the first camera facing the second camera, and a second light barrier is disposed on a side of the second camera facing the first camera.

5. The laser welding backplane robot according to claim 2, characterized in that: Two rotating driving members are also arranged in the accommodating cavity. The two rotating driving members are respectively arranged corresponding to the first camera and the second camera and are used to drive the first camera and the second camera to rotate.

6. The laser welding backplane robot according to any one of claims 1 to 5, characterized in that: The number of the magnetic adsorption components is at least two, and at least two of the magnetic adsorption components are arranged at intervals along the length direction of the shell.

7. The laser welding backplane robot according to claim 6, characterized in that: The magnetic adsorption member is a permanent magnet. A handle is provided at the bottom of the shell. The handle is connected to the magnetic adsorption member through a screw so that the permanent magnet can be moved closer to or away from the top of the shell by rotating the handle.

8. The laser welding backplane robot according to any one of claims 1 to 5, characterized in that: The driving assembly includes a plurality of driving motors, and the number of the driving motors is consistent with the number of the walking wheels and is arranged in a one-to-one correspondence.

9. The laser welding backplane robot according to any one of claims 1 to 5, characterized in that: An air blowing pipe is arranged on the outer side of the shell, and an air storage tank connected with the air blowing pipe is arranged in the accommodating cavity. The air blowing pipe is used to blow protective gas to the welding seam of the steel plate to be welded.

10. The laser welding backplane robot according to any one of claims 1 to 5, characterized in that: The top, bottom, front and rear of the shell are all provided with grooves, and a handle is arranged in each of the grooves.

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