Automatic welding device based on laser scanning and 3D camera recognition

Abstract

The utility model relates to the technical field of fan volute welding, and discloses an automatic welding device based on laser scanning and 3D camera recognition, which comprises a control mechanism, a Y-axis guide rail and a fan volute, the top of the Y-axis guide rail is movably provided with a supporting mechanism, the top of the supporting mechanism is fixedly provided with a longitudinal X-axis guide rail, and the X-axis guide rail is fixedly provided with a vertical Y-axis guide rail. A transverse mounting plate is mounted on the X-axis guide rail, a welding machine is fixedly mounted at the left end of the mounting plate, a welding manipulator is fixedly mounted at the right end of the mounting plate, a welding gun is fixedly mounted on the right side of the welding manipulator, and a laser scanning and 3D camera recognition system is fixedly mounted at the bottom of the welding gun. The teaching programming operation is simple, the fault-tolerant rate of the space position of the welding seam is high, the position of the welding seam is positioned and guided on line through the laser visual tracking system, intelligent automatic welding is achieved, a large number of welding locating tools and clamps are reduced, efficiency is improved, and manufacturing cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of fan volute welding, and particularly relates to an automatic welding device based on laser scanning and 3D camera recognition. Background Art

[0002] Industrial fans are widely used in ventilation and fire high-temperature smoke exhaust in places such as tunnels, underground garages, high-class civil buildings, metallurgy, factories and mines, etc. They mainly consist of components such as impellers, volutes, inlet collectors, guide vanes, motors, etc. In order to save energy and reduce consumption, industrial fans are customized and manufactured according to the working conditions requirements of users. Therefore, most fan volutes are manufactured in small batches and with various types. When applying automatic welding, the teaching programming is cumbersome and there are many types, the clamping is complex, and it is difficult to locate the welding torch, which brings great difficulties to the automatic application. For this reason, this application proposes an automatic welding device based on laser scanning and 3D camera recognition. Summary of the Utility Model

[0003] To solve the problems raised in the above background art, the utility model provides the following technical solutions: An automatic welding device based on laser scanning and 3D camera recognition, which includes a control mechanism, a Y-axis guide rail and a fan volute. A support mechanism is movably installed at the top of the Y-axis guide rail. A longitudinal X-axis guide rail is fixedly installed at the top end of the support mechanism. A transverse mounting plate is installed on the X-axis guide rail. A welding machine is fixedly installed at the left end of the mounting plate. A welding manipulator is fixedly installed at the right end of the mounting plate. A welding torch is fixedly installed on the right side of the welding manipulator. A laser scanning + 3D camera recognition system is fixedly installed at the bottom of the welding torch. A rotating base is arranged on the right side of the Y-axis guide rail. A rotatable rotating disk is installed on the top of the rotating base. The fan volute is placed on the rotating disk. The control mechanism is linearly connected to the welding torch.

[0004] Further, a 3D fitting software is set in the laser scanning + 3D camera recognition system, and the 3D fitting software is used to determine the weld position.

[0005] Further, the control mechanism includes a computer and an industrial control computer, and the computer is set on the industrial control computer.

[0006] Further, the welding end of the welding torch points to the docking place of the rotating disk and the fan volute.

[0007] Further, when the fan volute is placed on the rotating disk, it does not need to be strictly aligned.

[0008] Further, the shooting angle of the laser scanning + 3D camera recognition system is aligned with the welding torch.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] 1) After the fan volute is assembled, it is placed on the rotating disk without strict alignment. Then, after setting the welding parameters, the equipment is started. The volute is rotated to the starting welding position, the laser scanning is automatically started, the 3D camera identifies the weld seam, the 3D fitting software determines the weld seam position, and the identification software records and saves the welding position. After the scanning is completed, the computer automatically guides the welding torch to find the welding position and automatically welds. The welding process does not require manual intervention, achieving intelligent and automated welding;

[0011] 2) Through the automatic tracking of the welding trajectory guided by the laser online, there is no need for manual intervention during the process. The requirement for the consistency of the welding positions of multiple batches of workpieces is reduced, a large number of tooling positioning jigs are reduced, the welding quality is improved, the manufacturing efficiency is increased, and the production cost is reduced. Brief Description of the Drawings

[0012] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0013] Figure 1 is a schematic structural diagram of the whole of the present invention;

[0014] Figure 2 is a front view of the present invention;

[0015] Figure 3 is a top view of the present invention;

[0016] Figure 4 is a side view of the present invention;

[0017] In the figure: 1, control mechanism; 2, welding machine; 3, welding manipulator; 4, fan volute; 5, laser scanning + 3D camera identification system; 6, welding torch; 7, rotating disk; 8, Y-axis guide rail; 9, support mechanism; 10, X-axis guide rail; 11, mounting plate; 12, rotating base. Detailed Embodiment

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present invention.

[0019] By Figures 1-4Provided that, the utility model includes a control mechanism 1, a Y-axis guide rail 8 and a blower housing 4. A support mechanism 9 is movably installed at the top of the Y-axis guide rail 8. A longitudinal X-axis guide rail 10 is fixedly installed at the top end of the support mechanism 9. A transverse mounting plate 11 is installed on the X-axis guide rail 10. A welding machine 2 is fixedly installed at the left end of the mounting plate 11. A welding manipulator 3 is fixedly installed at the right end of the mounting plate 11. A welding torch 6 is fixedly installed on the right side of the welding manipulator. A laser scanning + 3D camera recognition system 5 is fixedly installed at the bottom of the welding torch 6. A rotating base 12 is arranged on the right side of the Y-axis guide rail 8. A rotatable rotating disk 7 is installed on the top of the rotating base 12. The blower housing 4 is placed on the rotating disk 7. The control mechanism 1 is linearly connected to the welding torch 6.

[0020] As Figure 1 and Figure 2 shown, a 3D fitting software is set in the laser scanning + 3D camera recognition system 5. The 3D fitting software is used to determine the weld position. Then, the recognition software in the laser scanning + 3D camera recognition system 5 records and saves the welding position. After the scanning is completed, the control mechanism 1 guides the welding torch 6 to find the welding position and performs automatic welding.

[0021] As Figure 1 and Figure 2 shown, the control mechanism 1 includes a computer and an industrial control computer. The computer is set on the industrial control computer. The welding torch 6 is guided to find the welding position on the blower housing 4 through the computer and the industrial control computer.

[0022] As Figure 2 shown, the welding end of the welding torch 6 points to the docking place of the rotating disk 7 and the blower housing 4, so that the welding torch 6 can perform welding processing on the blower housing 4 on the rotating disk 7.

[0023] As Figure 2 shown, when the blower housing 4 is placed on the rotating disk 7, it does not need to be strictly aligned, so that the blower housing 4 can be quickly placed on the rotating disk 7.

[0024] As Figure 2 shown, the shooting angle of the laser scanning + 3D camera recognition system 5 is aligned with the welding torch 6, so that the laser scanning + 3D camera recognition system 5 can shoot the position where the welding torch 6 needs to weld on the blower housing 4.

[0025] Working principle: After the blower housing is assembled 6, it is placed on the rotating disk 7. When placing the blower housing 4, it does not need to be strictly aligned. Then, after setting the welding parameters, the equipment is started. The welding position is scanned by laser, and the high-dynamic 3D camera recognizes and images. The recognition software records and saves the welding position. After the scanning is completed, the control mechanism 1 automatically guides the welding torch 6 to find the welding position and performs automatic welding. The welding process does not require manual intervention, achieving intelligent and automated welding.

[0026] It should be noted that, in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or apparatus.

[0027] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated welding device based on laser scanning and 3D camera recognition, comprising a control mechanism (1), a Y-axis guide rail (8) and a blower housing (4), characterized in that: A support mechanism (9) is movably installed at the top of the Y-axis guide rail (8). A longitudinal X-axis guide rail (10) is fixedly installed at the top end of the support mechanism (9). A transverse mounting plate (11) is installed on the X-axis guide rail (10). A welding machine (2) is fixedly installed at the left end of the mounting plate (11), and a welding manipulator (3) is fixedly installed at the right end of the mounting plate (11). A welding torch (6) is fixedly installed on the right side of the welding manipulator. A laser scanning + 3D camera recognition system (5) is fixedly installed at the bottom of the welding torch (6). A rotating base (12) is arranged on the right side of the Y-axis guide rail (8). A rotatable rotating disc (7) is installed on the top of the rotating base (12). The blower housing (4) is placed on the rotating disc (7). The control mechanism (1) is linearly connected to the welding torch (6).

2. The automated welding device based on laser scanning and 3D camera recognition according to claim 1, wherein: A 3D fitting software is set in the laser scanning + 3D camera recognition system (5), and the 3D fitting software is used to determine the weld position.

3. The automated welding device based on laser scanning and 3D camera recognition according to claim 1, characterized in that: The control mechanism (1) includes a computer and an industrial control computer, and the computer is set on the industrial control computer.

4. An automated welding device based on laser scanning and 3D camera recognition according to claim 1, characterized in that: The welding end of the welding torch (6) points to the docking place of the rotating disc (7) and the blower housing (4).

5. An automated welding device based on laser scanning and 3D camera recognition according to claim 1, characterized in that: When the blower housing (4) is placed on the rotating disc (7), strict alignment is not required.

6. An automated welding device based on laser scanning and 3D camera recognition according to claim 1, characterized in that: The shooting angle of the laser scanning + 3D camera recognition system (5) is aligned with the welding torch (6).

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