Visual welding robot with welding seam polishing structure
Through the visual welding robot integrating welding robot arms, vision modules and polishing structures, the problem of existing welding robots requiring manual programming and polishing is solved, and automated welding and polishing is achieved, and efficiency and accuracy are improved.
Patent Information
- Application Number
- CN202422385886.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-29
AI Technical Summary
Existing welding robots require manual programming of welding routes, which are inefficient and need to be manually polished after welding, so the grinding accuracy is not high, which affects subsequent processes.
Design a visual welding robot with a weld polishing structure, integrating a welding robot arm, a rotating shaft, a mounting frame, a vision module and a polishing structure, and automatically modeling and welding route programming through a monocular 3D camera and a red linear light source, and automatically polishing with a polishing motor and a polishing brush.
Automatic welding and polishing are realized, programming efficiency is improved, the accuracy of welding and polishing is ensured, and the overall working efficiency and the stability of subsequent processes are improved.
Smart Images
Figure CN223129764U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of welding robots, in particular to a visual welding robot with a weld polishing structure. Background Technique
[0002] A welding robot is an industrial robot engaged in welding; according to the definition of an industrial robot belonging to a standard welding robot by the International Organization for Standardization, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes and is used in the field of industrial automation; in order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange to which different tools or so-called end effectors can be connected.
[0003] At the present stage, all welding robots need to be programmed for the welding route manually, with low efficiency. At the same time, after the welding robot completes welding, the welded seams need to be polished manually to smooth the particles generated by welding and the uneven welding surface, facilitating subsequent operations such as painting. However, manual polishing has low efficiency and inaccurate polishing, which may affect subsequent processes. Content of the Utility Model
[0004] The purpose of the utility model is to solve the deficiencies existing in the prior art and to propose a visual welding robot with a weld polishing structure.
[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:
[0006] A visual welding robot with a weld polishing structure, comprising: a welding robotic arm body, a rotating shaft is installed inside the tail end of the welding robotic arm body, an installation frame structure is installed at the driving end of the rotating shaft, a welding structure is installed at one end of the installation frame structure, a grinding and polishing structure is installed at the other end of the installation frame structure, and a vision module structure is installed at the bottom of the installation frame structure; the installation frame structure includes: a mounting plate, a welding bracket and a grinding bracket; the mounting plate is installed at the driving end of the rotating shaft, the welding bracket is installed on one side wall surface of the mounting plate, and the grinding bracket is installed on the other side wall surface of the mounting plate.
[0007] The utility model is further provided that the welding structure includes: a welding torch and welding wire; the welding torch is installed inside the welding bracket, and one end of the welding wire is installed at the top end of the welding torch.
[0008] The utility model is further provided that the grinding and polishing structure includes: a polishing motor and a polishing brush; the polishing motor is installed inside the grinding bracket, and the polishing brush is installed at the driving end of the polishing motor.
[0009] The present utility model is further configured such that the vision module structure includes: a monocular 3D camera and a red linear light source; the monocular 3D camera is installed on the bottom surface of the mounting plate, and the red linear light source is installed on the bottom surface of the mounting plate.
[0010] The present utility model is further configured such that a locking device is installed inside the rotating shaft, which can make the rotating shaft stay at any angle.
[0011] The present utility model is further configured such that the apex angle of the polishing brush is 120 degrees.
[0012] The beneficial effects of the present utility model are as follows: The present utility model has automatic modeling and programming of welding routes, improving programming efficiency. At the same time, the present utility model has two modes of welding and polishing, which can accurately complete two tasks of welding and polishing. Not only is the efficiency higher than manual operation, but also the subsequent processes are ensured to proceed stably. Description of the Drawings
[0013] Figure 1 It is a schematic diagram of the first overall structure of a vision welding robot with a weld polishing structure proposed by the present utility model;
[0014] Figure 2 It is a schematic diagram of the second overall structure of a vision welding robot with a weld polishing structure proposed by the present utility model;
[0015] Figure 3 It is a schematic diagram of a partial structure of a vision welding robot with a weld polishing structure proposed by the present utility model.
[0016] In the figure: 1, welding robot arm body; 2, rotating shaft; 3, mounting plate; 4, welding bracket; 5, grinding bracket; 6, welder; 7, welding wire; 8, polishing motor; 9, polishing brush; 10, monocular 3D camera; 11, red linear light source. Specific Embodiments
[0017] The technical solutions of this patent will be further described in detail below in conjunction with specific embodiments.
[0018] The embodiments of this patent are described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain this patent and should not be construed as a limitation of this patent.
[0019] In the description of this patent, it should be understood that the orientation or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on this patent.
[0020] In the description of this patent, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "joined", "set up" should be understood in a broad sense. For example, they can be fixedly connected and set up, or detachably connected and set up, or integrally connected and set up. For those of ordinary skill in the art, the specific meanings of the above terms in this patent can be understood according to specific circumstances.
[0021] Referring to Figures 1-3 , a visual welding robot with a weld polishing structure, comprising: a welding robotic arm body 1, characterized in that a rotating shaft 2 is installed inside the tail end of the welding robotic arm body 1, an installation frame structure is installed at the driving end of the rotating shaft 2, a welding structure is installed at one end of the installation frame structure, a grinding and polishing structure is installed at the other end of the installation frame structure, and a vision module structure is installed at the bottom of the installation frame structure; the installation frame structure includes: a mounting plate 3, a welding bracket 4, and a grinding bracket 5; the mounting plate 3 is installed at the driving end of the rotating shaft 2, the welding bracket 4 is installed on one side wall surface of the mounting plate 3, and the grinding bracket 5 is installed on the other side wall surface of the mounting plate 3.
[0022] Specifically, the welding structure includes: a welder 6 and welding wire 7; the welder 6 is installed inside the welding bracket 4, and one end of the welding wire 7 is installed at the top end of the welder 6.
[0023] Specifically, the grinding and polishing structure includes: a polishing motor 8 and a polishing brush 9; the polishing motor 8 is installed inside the grinding bracket 5, and the polishing brush 9 is installed at the driving end of the polishing motor 8.
[0024] Specifically, the vision module structure includes: a monocular 3D camera 10 and a red linear light source 11; the monocular 3D camera 10 is installed on the bottom surface of the mounting plate 3, and the red linear light source 11 is installed on the bottom surface of the mounting plate 3.
[0025] Specifically, a locking device is installed inside the rotating shaft 2, which can make the rotating shaft 2 stay at any angle.
[0026] Specifically, the apex angle of the polishing brush 9 is 120 degrees.
[0027] Working principle: When using the present utility model, first connect an external computer to the welding robot arm body 1, and also connect the polishing motor 8, the welder 6, the monocular 3D camera 10, and the red linear light source 11 to the computer respectively. At the same time, connect an external AC power supply to the present utility model to provide energy for the electrical appliances in the present utility model. The operator starts the monocular 3D camera 10 and the red linear light source 11 through the computer. Through a pre-designed program, the red linear light source 11 projects a red straight line onto the welding area. Since there are gaps at the welding area that can cause deformation of the red straight line projection, the position of the welding gap can be judged. The monocular 3D camera 10 performs three-dimensional digital scanning on the welding gap. When the operator controls the welding robot arm body 1 to complete the three-dimensional digital scanning of the welding gap through the computer, at this time, the three-dimensional digital coordinates of the welding gap already exist inside the computer. At this time, the computer automatically drives the tail end of the welding robot arm body 1 to move along the welding gap route, and at the same time, makes the rotating shaft 2 drive the mounting plate 3 and the welding bracket 4 to rotate, and makes the welder 6 perpendicular to the welding gap, so that the welder 6 completes the welding. Then the computer automatically drives the tail end of the welding robot arm body 1 to move along the welding gap route again, makes the rotating shaft 2 drive the mounting plate 3 and the polishing bracket 5 to move, makes the polishing motor 8 and the polishing brush 9 perpendicular to the welding gap, and makes the polishing motor 8 drive the polishing brush 9 to rotate to polish and grind the welded gap, thus completing the processes of welding and grinding.
[0028] The above is only the preferred specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present utility model.
Claims
1. A vision welding robot with a weld polishing structure, comprising: Welding robot arm body (1), characterized in that a rotating shaft (2) is installed inside the tail end of the welding robot arm body (1), an installation frame structure is installed at the driving end of the rotating shaft (2), a welding structure is installed at one end of the installation frame structure, a grinding and polishing structure is installed at the other end of the installation frame structure, and a vision module structure is installed at the bottom of the installation frame structure; The installation frame structure includes: a mounting plate (3), a welding bracket (4), and a grinding bracket (5); The mounting plate (3) is installed at the driving end of the rotating shaft (2), the welding bracket (4) is installed on one side wall surface of the mounting plate (3), and the grinding bracket (5) is installed on the other side wall surface of the mounting plate (3).
2. The visual welding robot with a weld polishing structure according to claim 1, characterized in that, The welding structure includes: a welder (6) and welding wire (7); The welder (6) is installed inside the welding bracket (4), and one end of the welding wire (7) is installed at the top end of the welder (6).
3. A vision welding robot with a weld polishing structure according to claim 1, characterized in that, The grinding and polishing structure includes: a polishing motor (8) and a polishing brush (9); The polishing motor (8) is installed inside the grinding bracket (5), and the polishing brush (9) is installed at the driving end of the polishing motor (8).
4. A vision welding robot with a weld polishing structure according to claim 1, characterized in that, The vision module structure includes: a monocular 3D camera (10) and a red linear light source (11); The monocular 3D camera (10) is installed on the bottom surface of the mounting plate (3), and the red linear light source (11) is installed on the bottom surface of the mounting plate (3).
5. A vision welding robot with a weld polishing structure according to claim 1, characterized in that, A locking device is installed inside the rotating shaft (2), which can make the rotating shaft (2) stay at any angle.
6. A vision welding robot with a weld polishing structure according to claim 3, characterized in that, The apex angle of the polishing brush (9) is 120 degrees.