Demonstration-free groove cutting device based on robot vision

Abstract

The utility model belongs to the technical field of visual robots, and provides a teaching-free groove cutting device based on robot vision. On the basis of the six-axis arm robot and the plasma cutting gun, the movable trolley, the shear fork type lifting table, the balancing weight, the positioning leveling mechanism and the movable leveling mechanism are arranged, the six-axis arm robot is installed on the shear fork type lifting table, and outdoor movement of the six-axis arm robot can be achieved based on the movable trolley; the balancing weight is used for balancing the whole equipment in the moving and operation process so as to keep the equipment stable, the shear fork type lifting table is used for achieving lifting of the six-axis arm robot and expanding the operation height of the six-axis arm robot, and the positioning leveling mechanism and the movable leveling mechanism are used for achieving leveling when the robot deals with the uneven ground. And the whole equipment is horizontal so as to provide a flat working table top.

Description

Technical Field

[0001] The utility model belongs to the technical field of vision robots, and specifically relates to a teaching-free bevel cutting device based on robot vision. Background Technique

[0002] Bevel cutting refers to cutting a slope less than 90 degrees at the welding surface of a workpiece before welding, so that the workpiece can be welded through during welding to obtain better welding quality. With the development of industrial robots / robotic arms, the solution of combining a robotic arm with a bevel cutting device has been widely used in various processing scenarios. In the prior art, a robotic arm is mainly used, for example: a six-axis robotic arm robot, and a bevel cutting device is installed at its end. Then, through 3D laser line scanning, teaching-free control operations can be realized. However, the operating environment of bevel cutting is not completely limited to the factory, and it may also involve field operations. The robot fixed installation scheme commonly used in the prior art is obviously not applicable to field processing operations; in addition, the flatness of the ground in the wild is generally poor. Therefore, how to provide a relatively flat operating table for the robot business operation to ensure the smooth progress of the robot operation is an urgent problem to be solved in this field. Content of the Utility Model

[0003] The purpose of the utility model is to provide a teaching-free bevel cutting device based on robot vision to solve the technical problems existing in the prior art.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] A teaching-free bevel cutting device based on robot vision includes a six-axis robotic arm robot, a plasma cutting gun arranged at the end of the six-axis robotic arm robot, and an outdoor operation mechanism matched with the six-axis robotic arm robot; the outdoor operation mechanism includes a mobile trolley, a scissor lift table arranged on one side of the upper end of the mobile trolley and used for installing the six-axis robotic arm robot, a limit groove arranged on the other side of the upper end of the mobile trolley, and a counterweight block installed in the limit groove; positioning and leveling mechanisms are symmetrically arranged at the rear end of the mobile trolley, and active leveling mechanisms are symmetrically arranged on the left and right sides at the front end of the mobile trolley; the active leveling mechanism includes a connecting rod with one end connected to the side part of the mobile trolley, a support block arranged at the other end of the connecting rod, a threaded hole opened along the middle of the support block, and a leveling support member installed through the threaded hole.

[0006] Preferably, the positioning and leveling mechanism includes a first screw rod, a first hand wheel arranged at the upper end of the first screw rod, and a first support disk arranged at the lower end of the first screw rod; a threaded through hole matched with the first screw rod is arranged at the rear end of the mobile trolley.

[0007] Preferably, the leveling support member includes a second screw rod, a second hand wheel provided at the upper end of the second screw rod, and a second support plate provided at the lower end of the second screw rod.

[0008] Preferably, the connecting rod adopts a telescopic rod structure.

[0009] Preferably, the connecting rod includes a main rod with one end fixedly connected to the side of the moving trolley and a hollow interior, a sub-rod sleeved inside the main rod and capable of telescoping relative to the main rod, and the support block is provided at the end of the sub-rod.

[0010] Preferably, through holes are provided on both the main rod and the sub-rod, and the main rod and the sub-rod are fixed by installing a pin through the through holes.

[0011] Preferably, the two active leveling mechanisms are arranged in an "eight" shape relative to the moving trolley.

[0012] Compared with the prior art, the present utility model has the following beneficial effects:

[0013] Based on a six-axis articulated robot and a plasma cutting gun, the present utility model is provided with a moving trolley, a scissor lift table, a counterweight, a positioning and leveling mechanism, and an active leveling mechanism. The six-axis articulated robot is installed on the scissor lift table. Based on the moving trolley, the six-axis articulated robot can be moved outdoors. The counterweight is used to counterweight the overall equipment during movement and operation to maintain the stability of the equipment. The scissor lift table is used to lift the six-axis articulated robot and expand the working height of the six-axis articulated robot. The positioning and leveling mechanism and the active leveling mechanism are used to level the ground when dealing with uneven ground, so that the overall equipment is horizontal to provide a flat working table. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of the present utility model.

[0015] Figure 2 is a schematic diagram of the application principle of the positioning and leveling mechanism and the active leveling mechanism in the present utility model.

[0016] Figure 3 is a schematic structural diagram of the connecting rod in the present utility model.

[0017] Among them, the names corresponding to the reference numerals are as follows: 1 - six-axis articulated robot, 2 - plasma cutting gun, 3 - moving trolley, 4 - scissor lift table, 5 - limit groove, 6 - counterweight, 7 - positioning and leveling mechanism, 8 - active leveling mechanism, 9 - connecting plate;

[0018] 71 - first screw rod, 72 - first hand wheel, 73 - first support plate;

[0019] 81 - Connecting rod, 82 - Support block, 83 - Threaded hole, 84 - Leveling support; 811 - Main rod, 812 - Sub - rod, 813 - Through - hole; 841 - Second screw rod, 842 - Second handwheel, 843 - Second support disk. Detailed implementation mode

[0020] In order to enable those skilled in the art to have a clearer understanding and knowledge of the present utility model, the present utility model will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described below are only used to explain the present utility model for easy understanding. The technical solutions provided by the present utility model are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present utility model.

[0021] Embodiment

[0022] As Figures 1 to 3 shown, this embodiment provides a non - teaching bevel cutting device based on robot vision. This device is based on a robot and a plasma cutting gun. Among them, the robot uses a six - axis articulated robot, and the plasma cutting gun is installed at the end of the six - axis articulated robot. On this basis, an outdoor operation mechanism matching the six - axis articulated robot is set. Through the structural design of the outdoor operation mechanism combined with the six - axis articulated robot, the six - axis articulated robot and the plasma cutting gun can be applied to outdoor operations.

[0023] In this embodiment, the outdoor operation mechanism includes a mobile trolley, a scissor lift table arranged on one side of the upper end of the mobile trolley, a limit groove arranged on the other side of the upper end of the mobile trolley, and a counterweight block installed in the limit groove; positioning and leveling mechanisms are symmetrically arranged at the rear end of the mobile trolley, and movable leveling mechanisms are symmetrically arranged on the left and right sides at the front end of the mobile trolley. Among them, the mobile trolley can use an electric mobile trolley, which is controlled by an external controller. The scissor lift table uses an existing mature scissor lift table structure, which is hydraulically supported, and the supported weight is preferably 50 - 100 kg. A connecting plate is arranged at the bottom of the six - axis articulated robot, and the connecting plate and the upper end surface of the scissor lift table are fixedly connected by bolts. Through the structural design of the scissor lift table, the six - axis articulated robot can be lifted and lowered in the vertical direction, thereby expanding the construction range of the six - axis articulated robot in the vertical direction and being more suitable for field operations.

[0024] In this embodiment, the scissor lift table and the six-axis robotic arm are located at the rear side of the upper end of the mobile trolley, and their total weight is relatively large. Based on this, a limiting groove is provided on the other side of the upper end of the mobile trolley, and the position of the limiting groove is symmetrical to that of the scissor lift table. At the same time, a counterweight block is installed in the limiting groove. Placing the counterweight block in the limiting groove can play a role in limiting it. In a further preferred solution, external parts such as ropes can be used to fix the counterweight block; the weight of the counterweight block should match the weight of the scissor lift table and the six-axis robotic arm, so that the overall weight distribution of the mobile trolley is more uniform. On the one hand, it is beneficial for the mobile trolley to maintain balance during movement. On the other hand, based on the setting of the counterweight block, the overall stability of the equipment can also be ensured during operation.

[0025] Generally, the flatness of the field ground is not ideal. In order to ensure that the overall workbench surface is flat during construction operations, a positioning and leveling mechanism is symmetrically provided at the rear end of the mobile trolley, and movable leveling mechanisms are symmetrically provided on the left and right sides at the front end of the mobile trolley; the movable leveling mechanism includes a connecting rod with one end connected to the side of the mobile trolley, a support block provided at the other end of the connecting rod, a threaded hole opened along the middle of the support block, and a leveling support member installed through the threaded hole. Preferably, the two positioning and leveling mechanisms are arranged in parallel and perpendicular to the mobile trolley, and the two movable leveling mechanisms are arranged in a "V" shape relative to the mobile trolley to improve the leveling support effect.

[0026] In this embodiment, the leveling support member and the positioning and leveling mechanism have the same structure. Naming them separately here is for the convenience of distinction: the positioning and leveling mechanism includes a first screw rod, a first handwheel provided at the upper end of the first screw rod, and a first support disk provided at the lower end of the first screw rod; a threaded through hole matching the first screw rod is provided at the rear end of the mobile trolley. The leveling support member includes a second screw rod, a second handwheel provided at the upper end of the second screw rod, and a second support disk provided at the lower end of the second screw rod. The first screw rod is threadedly connected to the threaded through hole, and the second screw rod is threadedly connected to the threaded hole. The first handwheel is used to operate the rotation of the first screw rod, and the second handwheel is used to operate the rotation of the second screw rod.

[0027] In this embodiment, the connecting rod adopts a telescopic rod structure. In a further preferred solution, the connecting rod includes a main rod with one end fixedly connected to the side of the mobile trolley and a hollow interior, a sub-rod sleeved inside the main rod and capable of telescoping relative to the main rod, the support block is provided at the end of the sub-rod, through holes are provided on both the main rod and the sub-rod, and the main rod and the sub-rod are fixed by installing a pin through the through holes. It should be noted that those skilled in the art can also adopt other existing mature telescopic rod structures; the use of the telescopic rod structure design for the connecting rod can make the leveling range of the movable leveling mechanism not limited and more flexible, so as to facilitate dealing with more complex field geographical environments.

[0028] It should be noted that in the translation of the content in , the description "the two movable leveling mechanisms are arranged in a 'V' shape relative to the mobile trolley" in the original Chinese text seems to be incorrect. According to the context, it should be "the two movable leveling mechanisms are arranged in an 'eight' shape relative to the mobile trolley", and the translation has been corrected accordingly.The usage methods of the positioning and leveling mechanism and the movable leveling mechanism are as follows: After moving to the working ground, first operate the two positioning and leveling mechanisms so that the lower ends of the positioning and leveling mechanisms contact the ground and support to achieve the positioning of the foundation; then, operate the two movable leveling mechanisms respectively so that the lower ends of the leveling support members of the movable leveling mechanisms contact the ground and support respectively; finally, through the adjustment of the movable leveling mechanism, while ensuring that the lower ends of the leveling support members contact the ground and support respectively, the whole trolley is made to be in a horizontal state as much as possible.

[0029] The above embodiments are only illustrative of the principles and effects of the present invention, rather than limiting the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A teaching-free bevel cutting device based on robot vision, characterized in that, It includes a six-axis articulated robot (1), a plasma cutting gun (2) arranged at the end of the six-axis articulated robot (1), and an outdoor operation mechanism matched with the six-axis articulated robot (1); the outdoor operation mechanism includes a mobile trolley (3), a scissor lift table (4) arranged on one side of the upper end of the mobile trolley (3) and used for installing the six-axis articulated robot (1), a limit groove (5) arranged on the other side of the upper end of the mobile trolley (3), and a counterweight (6) installed in the limit groove (5); positioning and leveling mechanisms (7) are symmetrically arranged at the rear end of the mobile trolley (3), and movable leveling mechanisms (8) are symmetrically arranged on the left and right sides at the front end of the mobile trolley (3); the movable leveling mechanism (8) includes a connecting rod (81) with one end connected to the side of the mobile trolley (3), a support block (82) arranged at the other end of the connecting rod (81), a threaded hole (83) opened along the middle of the support block (82), and a leveling support member (84) installed through the threaded hole (83).

2. The groove cutting device based on robot vision without teaching according to claim 1, characterized in that: The positioning and leveling mechanism (7) includes a first screw rod (71), a first hand wheel (72) arranged at the upper end of the first screw rod (71), and a first support disc (73) arranged at the lower end of the first screw rod (71); a threaded through hole matched with the first screw rod (71) is arranged at the rear end of the mobile trolley (3).

3. The groove cutting device without teaching based on robot vision according to claim 2, characterized in that: The leveling support member (84) includes a second screw rod (841), a second hand wheel (842) arranged at the upper end of the second screw rod (841), and a second support disc (843) arranged at the lower end of the second screw rod (841).

4. The groove cutting device based on robot vision without teaching according to claim 3, wherein: The connecting rod (81) adopts a telescopic rod structure.

5. The bevel cutting device without teaching based on robot vision according to claim 4, characterized in that: The connecting rod (81) includes a main rod (811) with one end fixedly connected to the side of the mobile trolley (3) and a hollow interior, a sub-rod (812) sleeved in the main rod (811) and capable of telescoping relative to the main rod (811), and the support block (82) is arranged at the end of the sub-rod (812).

6. The groove cutting device based on robot vision without teaching according to claim 5, characterized in that: Through holes (813) are arranged on both the main rod (811) and the sub-rod (812), and the main rod (811) and the sub-rod (812) are fixed by installing pins through the through holes (813).

7. The groove cutting device without teaching based on robot vision according to claim 6, characterized in that: The two movable leveling mechanisms (8) are arranged in an "eight" shape relative to the mobile trolley (3).

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