Intelligent guiding system of welding robot

Abstract

The utility model discloses an intelligent guiding system for a welding robot. The intelligent guiding system comprises the welding robot, a walking track, a driving mechanism, a visual camera, a robot control cabinet, a welding machine and a visual industrial personal computer. The visual camera and the robot control cabinet are electrically connected with the visual industrial personal computer. The welding robot is arranged on the walking track and can be driven by the driving mechanism to move back and forth relative to the walking track. The driving mechanism and the welding robot are electrically connected with the robot control cabinet. The welding robot comprises a mechanical arm and a welding gun arranged at the end of the mechanical arm. And the visual camera is fixed on the welding gun. According to the intelligent guiding system of the welding robot, a welding seam is accurately scanned through the visual camera, and data are transmitted to the visual industrial personal computer; and the visual industrial personal computer detects the welding seam information, generates a corresponding welding track and controls the welding robot to execute a welding task, so that manual detection errors can be reduced, and accurate welding of the weldment is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent equipment, in particular to an intelligent guidance system for a welding robot. Background Art

[0002] Welding is a manufacturing process and technology that uses heat, high temperature, or high pressure to join metals or other thermoplastic materials, such as plastics. In industrial production, the skill level of workers directly affects the efficiency and effectiveness of manual welding, and thus the quality of the product. Furthermore, manual welding is a harsh environment, with strong light and hazardous substances harmful to workers' health, and the labor intensity is high. With the advancement of electronics, computers, numerical control, and robotics, most modern welding workshops are now equipped with welding robots to replace manual welding. In contrast, intelligent welding offers high precision and high quality, significantly improving welding efficiency while ensuring safe production. It also reduces worker labor intensity and lowers production costs, making it widely used in the production of large-scale workpieces. However, the welding robot's welding trajectory is pre-set. When the workpiece's position changes, the robot's actual welding position may deviate from the desired weld location on the workpiece, resulting in weld defects. Currently, the weld area is typically inspected visually. This method is inefficient and highly subjective, and is easily affected by environmental interference, which affects the accuracy of the detection results, leading to misjudgment and missed detection of weld defect locations, thereby affecting the overall welding quality. Summary of the Invention

[0003] This utility model provides an intelligent guidance system for welding robots, designed to overcome the aforementioned problems existing in the prior art. The system incorporates a visual camera mounted on the welding robot, enabling precise scanning of weld seams and transmitting the data to a visual industrial control computer. The visual industrial control computer then detects the weld seam information, generates a corresponding welding trajectory, and controls the welding robot to execute the welding task. This reduces human error in detection, enables precise welding of welded parts, improves production efficiency and welding quality, and promotes the development of intelligent and automated welding.

[0004] The technical solution of this application is:

[0005] The intelligent guidance system for a welding robot includes a welding robot, a travel track, a drive mechanism, a visual camera, a robot control cabinet, a welding machine, and a visual industrial computer; the visual camera and the robot control cabinet are electrically connected to the visual industrial computer respectively; the welding machine is used to provide power for the system; the welding robot is arranged on the travel track and can move back and forth relative to the travel track under the drive of the drive mechanism; the drive mechanism and the welding robot are electrically connected to the robot control cabinet respectively; the welding robot includes a robotic arm and a welding gun arranged at the end of the robotic arm; the visual camera is fixed to the welding gun.

[0006] During work, the weldment is placed on the welding platform, and the visual camera scans the weld information of the weldment and sends it to the visual industrial computer; the visual industrial computer identifies the weld information and generates the corresponding welding trajectory, and then transmits the signal to the robot control cabinet. The robot control cabinet controls the movement of the welding robot and the drive mechanism, so that the welding robot performs the corresponding welding work according to the welding trajectory information.

[0007] Compared with the existing technology, the intelligent guidance system of the welding robot of the utility model forms a "hand-eye system" by installing a visual camera on the welding robot, which can realize accurate scanning of the weld and transmit the data to the visual industrial computer. The visual industrial computer detects weld defects, generates new welding trajectories, and controls the welding robot to perform welding tasks, thereby reducing human detection errors, realizing accurate welding of weldments, improving production efficiency and welding quality, promoting the intelligent and automated development of welding, and reducing manual labor intensity.

[0008] As an optimization, in the aforementioned intelligent guidance system for welding robots, the travel track includes a track base; a robot mounting seat and a drag chain are provided on the track base; a slide rail is provided on each side of the top of the track base, and correspondingly, a slider is provided on each side of the bottom of the robot mounting seat; the slider is slidably connected to the slide rail. The cooperation of the slide rail and the slider drives the welding robot to move relative to the travel track, resulting in a simple structure and low implementation difficulty.

[0009] Furthermore, the robot mounting base includes a mounting plate and a raised base provided on the mounting plate; the welding robot is fixed to the raised base. This allows the active position of the welding robot to be elevated, preventing interference with other components during operation, thereby ensuring smooth welding.

[0010] As an optimization, in the aforementioned intelligent guidance system for welding robots, the drive mechanism includes a meshing drive gear and rack; the drive gear is located at the bottom of the mounting plate and connected to the rotating shaft of the drive motor; the rack is fixed to the track base, and the drive motor is fixed to the mounting plate. In this application, the drive mechanism adopts a rack and pinion structure, which occupies a small space and is easy to assemble and implement, which helps to control costs.

[0011] As an optimization, in the aforementioned intelligent guidance system for welding robots, a set of base pads are provided on both sides of the bottom of the track base, thereby preventing damage to the ground when the track base vibrates.

[0012] As an optimization, in the aforementioned welding robot intelligent guidance system, one end of the drag chain is located in the mounting slot of the track base, and the other end is equipped with a protective cover; the protective cover is connected to the mounting plate. By using the protective cover to protect the drag chain, dust can be reduced, making the drag chain smoother during movement, thereby protecting the cables.

[0013] Furthermore, retractable protective covers are provided on both sides of the robot mounting base; these retractable protective covers cover the outside of the slide rail. This prevents foreign objects from getting stuck inside the rail base and damaging related components. Furthermore, the protective covers cover the internal components, making the overall appearance of the track more aesthetically pleasing.

[0014] Furthermore, a limit block is provided at each end of the slide rail; the limit block cooperates with the mounting plate to limit the stroke of the welding robot; and can also prevent the protective cover from being damaged due to excessive expansion and contraction.

[0015] As an optimization, in the aforementioned welding robot intelligent guidance system, the robotic arm is a six-axis robotic arm. The six-axis robotic arm has the advantages of high degree of freedom, high degree of automation, versatility, convenience and safety, thereby providing high flexibility during welding.

[0016] Furthermore, the visual camera is fixed to the welding gun by a clamp, which makes assembly easy and the visual camera has good installation stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural diagram of the welding robot intelligent guidance system of the present application;

[0018] Figure 2 Schematic diagram of the structure of the walking track in the embodiment of the present application;

[0019] Figure 3 yes Figure 2 Schematic diagram of the walking track with the protective cover and protective shield removed;

[0020] Figure 4 is a schematic structural diagram of the driving mechanism in an embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of welding using the welding robot intelligent guidance system of the present application.

[0022] The marks in the accompanying drawings are: 1-welding robot, 11-robotic arm, 12-welding gun; 2-walking track, 21-track base, 22-robot mounting seat, 221-mounting plate, 222-heightening seat, 23-drag chain, 24-slide rail, 25-slider, 26-base pad, 27-protective cover, 28-protective cover, 29-limit block; 3-driving mechanism, 31-driving gear, 32-rack, 33-driving motor; 4-visual camera; 5-robot control cabinet; 6-welding machine; 7-weldment. DETAILED DESCRIPTION

[0023] The present invention is further described below with reference to the accompanying drawings and examples, but is not intended to limit the present invention. In the following examples, any content not described in detail is common technical knowledge in the art.

[0024] See also Figure 1 The welding robot intelligent guidance system of the present application includes a welding robot 1, a walking track 2, a driving mechanism 3, a visual camera 4, a robot control cabinet 5, a welding machine 6 and a visual industrial control computer; the visual camera 4 and the robot control cabinet 5 are electrically connected to the visual industrial control computer respectively; the welding machine 6 is used to provide power for the system; the welding robot 1 is arranged on the walking track 2, and can move back and forth relative to the walking track 2 under the drive of the driving mechanism 3; the driving mechanism 3 and the welding robot 1 are electrically connected to the robot control cabinet 5 respectively; the welding robot 1 includes a robotic arm 11, and a welding gun 12 arranged at the end of the robotic arm 11; the visual camera 4 is fixed on the welding gun 12.

[0025] See also Figure 5 During operation, the weldment 7 is placed on the welding platform, and the visual camera 4 scans the weld information of the weldment 7 (obtains three-dimensional point cloud data) and sends it to the visual industrial computer (not shown in the figure); the visual industrial computer processes the received three-dimensional point cloud data to identify the type of weld (including grooveless welds, V-groove welds, grooveless fillet welds, and pipe joint welds), and finds suitable welding points according to different weld types, generates corresponding welding trajectories, and then transmits the signal to the robot control cabinet 5, which controls the movement of the welding robot 1 and the drive mechanism 3, so that the welding robot 1 performs the corresponding welding work according to the welding trajectory information. Example

[0026] See also Figure 2 and Figure 3 In this embodiment, the walking track 2 includes a track base 21; a robot mounting seat 22 and a drag chain 23 are provided on the track base 21; a slide rail 24 is provided on each side of the top of the track base 21, and correspondingly, two sliders 25 are provided on each side of the bottom of the robot mounting seat 22; the sliders 25 are slidably connected to the slide rails 24. The cooperation of the slide rails 24 and the sliders 25 drives the welding robot 1 to move relative to the walking track 2, which has a simple structure and low implementation difficulty. Furthermore, the robot mounting seat 22 includes a mounting plate 221 and an elevated seat 222 provided on the mounting plate 221; the welding robot 1 is fixed on the elevated seat 222. In this way, the active position of the welding robot 1 can be raised to avoid interference with other components when the welding robot 1 is working, thereby ensuring the smooth progress of the welding work. The sliders 25 are fixed to the bottom of the mounting plate 221 by bolts.

[0027] See also Figure 4 In this embodiment, the drive mechanism 3 includes a meshing drive gear 31 and a rack 32. The drive gear 31 is located at the bottom of the mounting plate 221 and is connected to the rotating shaft of the drive motor 33. The rack 32 is fixed to the track base 21, and the drive motor 33 is fixed to the mounting plate 221. The drive mechanism 3 adopts a rack and pinion structure, which occupies a small space and is easy to assemble and implement, which helps to control costs.

[0028] In this embodiment, three base pads 26 are spaced apart on both sides of the bottom of the track base 21. This prevents damage to the ground when the track base 21 vibrates. In addition, multiple adjustment pads can be installed on the base pads 26 using adjustment screws.

[0029] In this embodiment, one end of the drag chain 23 is located in the mounting groove of the rail base 21, and the other end is provided with a protective cover 27; the protective cover 27 is connected to the mounting plate 221. By using the protective cover 27 to protect the drag chain 23, dust can be reduced and the drag chain 23 can be made to move more smoothly, thereby protecting the cables.

[0030] In this embodiment, retractable protective covers 28 are provided on both sides of the robot mounting base 22. The retractable protective covers 28 cover the outside of the slide rail 24. This prevents foreign objects from getting stuck inside the track base 21 and damaging related components. Moreover, the protective covers 28 cover the internal components, making the overall appearance of the running track 21 more beautiful.

[0031] Furthermore, one end of the protective cover 28 is bolted to the end plate of the track base 21, and the other end is bolted to the end of the robot mounting base 22. The protective cover 28 moves synchronously with the robot mounting base 22. During movement, the protective cover 28 on one side is stretched, while the protective cover 28 on the other side is compressed.

[0032] In this embodiment, a limit block 29 is provided at each end of the slide rail 24; the limit block 29 cooperates with the mounting plate 221 to limit the stroke of the welding robot 1; and can also prevent the protective cover 28 from being damaged due to excessive expansion and contraction.

[0033] In this embodiment, the robotic arm 11 is a six-axis robotic arm. The six-axis robotic arm has the advantages of high degree of freedom, high degree of automation, versatility, convenience and safety, thereby making the welding process more flexible.

[0034] Furthermore, the visual camera 4 is fixed to the welding gun 12 by a clamp. In this case, it is easy to assemble, and the installation stability of the visual camera 4 is good.

[0035] In this embodiment, the visual camera 4 and the robot control cabinet 5 are connected to the visual industrial computer via Ethernet to ensure efficient data transmission and system coordination.

[0036] The above general description of the utility model and the description of its specific embodiments involved in this application should not be construed as limiting the technical solutions of the utility model. Based on the disclosure of this application, those skilled in the art may, without violating the constituent elements of the utility model involved, add to, subtract from, or combine the disclosed technical features in the above general description and / or specific embodiments (including examples) to form other technical solutions within the scope of protection of this application.

Claims

1. Intelligent guidance system for welding robots, characterized by: The invention comprises a welding robot (1), a walking track (2), a driving mechanism (3), a visual camera (4), a robot control cabinet (5), a welding machine (6) and a visual industrial control computer; the visual camera (4) and the robot control cabinet (5) are respectively electrically connected to the visual industrial control computer; the welding machine (6) is used to provide power to the system; the welding robot (1) is arranged on the walking track (2) and can move back and forth relative to the walking track (2) under the drive of the driving mechanism (3); the driving mechanism (3) and the welding robot (1) are respectively electrically connected to the robot control cabinet (5); the welding robot (1) comprises a mechanical arm (11) and a welding gun (12) arranged at the end of the mechanical arm (11); the visual camera (4) is fixed on the welding gun (12).

2. The welding robot intelligent guidance system according to claim 1, characterized in that: The walking track (2) includes a track base (21); a robot mounting seat (22) and a drag chain (23) are provided on the track base (21); a slide rail (24) is provided on both sides of the top of the track base (21), and correspondingly, a slider (25) is provided on both sides of the bottom of the robot mounting seat (22); the slider (25) is slidably connected to the slide rail (24).

3. The intelligent guidance system for welding robots according to claim 2, characterized in that: The robot mounting seat (22) comprises a mounting plate (221) and an elevated seat (222) provided on the mounting plate (221); the welding robot (1) is fixed on the elevated seat (222).

4. The intelligent guidance system for welding robots according to claim 3, characterized in that: The driving mechanism (3) comprises a driving gear (31) and a rack (32) meshing with each other; the driving gear (31) is arranged at the bottom of the mounting plate (221) and is connected to the rotating shaft of the driving motor (33); the rack (32) is fixed to the track base (21), and the driving motor (33) is fixed to the mounting plate (221).

5. The intelligent guidance system for welding robots according to claim 2, characterized in that: A group of base pads (26) are respectively provided on both sides of the bottom of the track base (21).

6. The welding robot intelligent guidance system according to claim 3, characterized in that: One end of the drag chain (23) is located in the mounting groove of the track base (21), and the other end is provided with a protective cover (27); the protective cover (27) is connected to the mounting plate (221).

7. The intelligent guidance system for welding robots according to claim 6, characterized in that: Retractable protective covers (28) are respectively provided on both sides of the robot mounting seat (22); the retractable protective covers (28) cover the outside of the slide rail (24).

8. The intelligent guidance system for welding robots according to claim 7, characterized in that: A limit block (29) is provided at each end of the slide rail (24).

9. The intelligent guidance system for a welding robot according to any one of claims 1 to 8, characterized in that: The robotic arm (11) is a six-axis robotic arm.

10. The intelligent guidance system for welding robots according to claim 9, characterized in that: The visual camera (4) is fixed to the welding gun (12) via a clamp.

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