Visual locating device of welding robot

Abstract

The utility model relates to the technical field of welding, and discloses a welding robot visual locating device which comprises a base, a welding robot is movably installed on the upper surface of the base, a visual locating sensor is movably installed at the tail end of the welding robot, and a protective cover is rotatably installed on the outer wall of the lower end of the visual locating sensor. The protective cover is of a semicircular structure, and a plurality of tooth grooves are formed in the inner wall of the protective cover in a penetrating mode. In the welding process, the lens part of the visual positioning sensor can be protected through the protective cover, the lens can be prevented from being damaged and polluted by splashes, smoke dust, gas and the like in the welding process, and after stains are attached to the outer wall of the protective cover, the protective cover is driven to rotate through rotation of the adjusting gear, so that the lens is prevented from being damaged and polluted. In the rotating process of the protective cover, the cleaning strips making contact with the outer wall of the protective cover can clean stains attached to the outer wall of the protective cover.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding technical field especially relates to a welding robot vision location device. BACKGROUND

[0002] In order to improve the efficiency and quality of welding, if the welding robot cannot accurately determine the welding position in actual production, it will lead to the decline of welding quality, and even the welding failure. In order to solve this problem, the vision location technology is introduced into the welding robot. The vision location device obtains the image information of the workpiece through the camera and other vision sensors, and then uses the image processing algorithm to analyze the image, determines the position and attitude of the workpiece, and provides accurate welding position information for the welding robot.

[0003] At present, although some welding robot vision location devices have been applied in actual production, these devices still have some shortcomings. When the vision positioning device is installed near the welding gun position of the welding robot, the welding area can be monitored in real time, and accurate position feedback is provided for the robot to timely adjust the position and attitude of the welding gun, so as to ensure the welding quality. However, a large amount of high-temperature metal splashes will be generated during the welding process, which may hit the vision location device and damage the lens, sensor and other components, and the smoke and harmful gas generated during the welding process will also pollute the lens. Therefore, we propose a welding robot vision location device. SUMMARY

[0004] The utility model mainly solves the technical problem existing in the prior art, and provides a welding robot vision location device.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme, a welding robot vision location device, including base, the upper surface of base swing installation has welding robot, the end of welding robot swing installation has vision positioning sensor, the lower end outer wall of vision positioning sensor is rotatably installed with the protective cover, the protective cover is semicircular ring structure, and a plurality of tooth grooves are formed in the inner wall of the protective cover, the lower end outer wall of vision positioning sensor is rotatably installed with the adjusting gear and the tooth groove meshing at the corresponding position of the tooth groove, a cleaning rod is further fixedly installed on the vision positioning sensor, a cleaning strip is fixedly installed at the end of the cleaning rod, and the outer wall of one side of the cleaning strip is in contact with the outer wall of the protective cover.

[0006] As a preferred, the outer wall of the end of the welding robot is fixedly installed with a mounting box, a slot is formed in the mounting box, and a plugboard is movably connected to the outer wall of the side of the vision positioning sensor close to the welding robot, and the plugboard and the slot are matched.

[0007] As preferred, the visual positioning sensor is fixedly installed with a fixed plate close to the side outer wall of the plugboard, the outer wall of the fixed plate is rotationally connected with an adjusting plate, the other end of the adjusting plate is slidingly connected with the plugboard, and the lower end of the fixed plate is rotationally connected with the lower end of the plugboard.

[0008] As preferred, the upper end of the plugboard is fixedly installed with a blocking strip, and the length of the blocking strip is the same as the width of the mounting box.

[0009] As preferred, the outer wall of one end of the protective cover is fixedly installed with a cleaning box, a water bag is movably installed in the cleaning box, a water spraying pipe is fixedly connected to the water bag, the distal end of the water spraying pipe extends to the outside of the cleaning box through a corresponding position on the cleaning box, and the water spraying pipe is obliquely arranged.

[0010] As preferred, the upper end of the cleaning box is slidingly installed with a pressing block, the bottom surface of the pressing block is arranged in contact with the water bag, and a resisting rod is fixedly installed on the visual positioning sensor at a corresponding position of the pressing block.

[0011] As preferred, the distal end of the cleaning rod is fixedly installed with a connecting rod, the connecting rod is arranged in an L shape, a sliding groove is formed in the protective cover at a corresponding position of the distal end of the connecting rod, and the distal end of the connecting rod slides in the sliding groove.

[0012] Beneficial effects

[0013] The utility model provides a kind of welding robot visual location device.It has the following beneficial effects:

[0014] (1) the welding robot visual location device, in the process of welding, the lens part of visual positioning sensor can be protected by protective cover, to prevent splash and smoke and gas during welding from causing damage and pollution to lens, after dirt is attached to the outer wall of protective cover, the protective cover is rotated by adjusting gear rotation driving, and the cleaning strip in contact with the outer wall of protective cover can clean the dirt attached to the outer wall of protective cover during the rotation of protective cover.

[0015] (2) the welding robot visual location device, when water bag is extruded, the cleaning agent etc. filled in water bag can be discharged outward through water spraying pipe, since water spraying pipe is arranged obliquely, the cleaning agent etc. flowing out of water spraying pipe can be sprayed to the surface of protective cover and flow along the arc-shaped outer wall of protective cover, and the cleaning strip sliding on the outer wall of protective cover can enhance the cleaning effect of the outer wall of protective cover after the cleaning agent flows to the lowest point of the outer wall of protective cover. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can also be obtained according to the provided drawings without creative labor.

[0017] The structures, proportions, sizes, etc. shown in the specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the implementation conditions of the present application, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effects and purposes of the present application, should still fall within the scope of the technical content disclosed by the present application.

[0018] Figure 1 The present application is a whole structure schematic diagram;

[0019] Figure 2 The present application is a visual positioning sensor structure installation schematic diagram;

[0020] Figure 3 The present application is a split schematic diagram of the installation box and the plugboard structure;

[0021] Figure 4 The present application is a regulating plate structure schematic diagram;

[0022] Figure 5 The present application is a regulating gear and tooth groove engagement schematic diagram;

[0023] Figure 6 The present application is a cleaning box internal structure schematic diagram.

[0024] Legend: 1, base; 2, welding robot; 3, visual positioning sensor; 4, protective cover; 5, cleaning box; 6, cleaning rod; 7, installation box; 8, cleaning strip; 9, plugboard; 10, blocking bar; 11, plug slot; 12, regulating plate; 13, fixed plate; 14, sliding groove; 15, regulating gear; 16, stop rod; 17, extrusion block; 18, water pipe; 19, water bag; 20, tooth groove; 21, connecting rod. DETAILED DESCRIPTION

[0025] Clearly and completely describe the technical scheme in the embodiments of the utility model with reference to the drawings in the embodiments of the utility model, obviously, the described embodiment is only a part of the embodiment of the utility model, and is not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the scope of the utility model protection.

[0026] As shown in Figures 1-6 A welding robot visual positioning device, including base 1, the upper surface of base 1 is movably installed with welding robot 2, the end of welding robot 2 is movably installed with visual positioning sensor 3, the lower end outer wall of visual positioning sensor 3 is rotatably installed with protective cover 4, protective cover 4 is semicircular ring structure, and a plurality of tooth grooves 20 are formed through the inner wall of protective cover 4, the lower end outer wall of visual positioning sensor 3 is rotatably installed with adjusting gear 15 at the corresponding position of tooth groove 20, adjusting gear 15 is rotatably driven by driving motor fixedly connected through the center position, cleaning rod 6 is also fixedly installed on visual positioning sensor 3, cleaning strip 8 is fixedly installed at the end of cleaning rod 6, and the outer wall of one side of cleaning strip 8 is in contact with the outer wall of protective cover 4;

[0027] In use, welding robot 2 can be used for welding welding seam, etc., in the process, welding robot 2 can accurately weld welding seam according to the identification and positioning of visual positioning sensor 3 to welding seam, in the process of welding, the lens part of visual positioning sensor 3 can be protected by protective cover 4, which can prevent the damage and pollution of the lens caused by the splashing, smoke and gas in the welding process, after the dirt is attached to the outer wall of protective cover 4, the protective cover 4 is driven to rotate by rotating adjusting gear 15, and the cleaning strip 8 in contact with the outer wall of protective cover 4 can scrape off the dirt attached to the outer wall of protective cover 4 in the process of rotating protective cover 4.

[0028] As shown in Figure 3 The end outer wall of welding robot 2 is fixedly installed with mounting box 7, mounting box 7 is provided with slot 11, the outer wall of one side of visual positioning sensor 3 close to welding robot 2 is movably connected with plug-in board 9, and plug-in board 9 is matched with slot 11; plug-in board 9 is installed in slot 11, which can realize the quick installation and disassembly of visual positioning sensor 3.

[0029] As shown in Figure 4As shown, the visual positioning sensor 3 is fixedly installed on one side of the outer wall of the plug-in plate 9, the outer wall of the fixed plate 13 is rotatably connected with the adjusting plate 12, the other end of the adjusting plate 12 is slidably connected with the plug-in plate 9, and the lower end of the fixed plate 13 is rotatably connected with the lower end of the plug-in plate 9; according to the welding precision, the user can adjust the inclination angle of the visual positioning sensor 3 through the adjusting plate 12, wherein one end of the adjusting plate 12 is rotatably connected with the corresponding position on the fixed plate 13, and the other end is movably connected with the electric sliding table arranged on the plug-in plate 9, so that the inclination angle of the visual positioning sensor 3 can be adjusted by sliding the electric sliding table.

[0030] As shown in the Figure 3 The upper end of the plug-in plate 9 is fixedly installed with a blocking strip 10, and the length of the blocking strip 10 is the same as the width of the installation box 7; the blocking strip 10 is arranged to facilitate the user to clamp and install the plug-in plate 9 in the plug-in slot 11 of the installation box 7 by applying force to both ends of the blocking strip 10.

[0031] As shown in the Figure 6 The outer wall of one end of the protective cover 4 is fixedly installed with a cleaning box 5, the cleaning box 5 is movably installed with a water bag 19, the water bag 19 is fixedly connected with a water spraying pipe 18, the distal end of the water spraying pipe 18 extends to the outside of the cleaning box 5 through the corresponding position of the cleaning box 5, and the water spraying pipe 18 is inclined; when the water bag 19 is extruded, the cleaning agent etc. filled in the water bag 19 can be discharged outward through the water spraying pipe 18, and since the water spraying pipe 18 is inclined, the cleaning agent etc. flowing out of the water spraying pipe 18 can be sprayed to the surface of the protective cover 4 and flow along the arc-shaped outer wall of the protective cover 4, and the cleaning agent flowing to the lowest point of the outer wall of the protective cover 4 can enhance the cleaning effect of the outer wall of the protective cover 4 in cooperation with the cleaning strip 8 sliding on the outer wall of the protective cover 4.

[0032] As shown in the Figure 6 The upper end of the cleaning box 5 is slidably installed with an extrusion block 17, the bottom surface of the extrusion block 17 is in contact with the water bag 19, and the upper end of the visual positioning sensor 3 is fixedly installed with a stop rod 16 at the corresponding position of the extrusion block 17; the lower end of the extrusion block 17 is provided with two protrusions which slide in the grooves formed in the inner wall of the cleaning box 5, a reset spring is fixedly connected in the groove below the protrusions, and the two ends of the reset spring are fixedly connected with the protrusions and the corresponding position of the groove, respectively; when the extrusion block 17 is extruded by external force, the extrusion block 17 can slide in the cleaning box 5 and extrude the water bag 19, so that the cleaning agent etc. in the water bag 19 is sprayed outward through the water spraying pipe 18.

[0033] As shown in the Figure 5As shown, the end of the cleaning rod 6 is fixedly provided with a connecting rod 21, the connecting rod 21 is provided in an L shape, a sliding groove 14 is formed on the protective cover 4 corresponding to the end of the connecting rod 21, and the end of the connecting rod 21 slides in the sliding groove 14; the connecting rod 21 and the cleaning rod 6 are fixedly connected with the visual positioning sensor 3, so that the connecting rod 21 can support the protective cover 4.

[0034] The working principle of the utility model is: in use, the welding seam can be welded through the welding robot 2, in the process, the welding robot 2 can accurately weld the welding seam according to the identification and positioning of the welding seam by the visual positioning sensor 3, in the process of welding, the lens part of the visual positioning sensor 3 can be protected by the protective cover 4, which can prevent the lens from being damaged and polluted by splashes, smoke and gas in the welding process, after the dirt adheres to the outer wall of the protective cover 4, the protective cover 4 is driven to rotate by adjusting the gear 15, in the process of rotating the protective cover 4, the cleaning strip 8 in contact with the outer wall of the protective cover 4 can scrape off the dirt adhered to the outer wall of the protective cover 4, and when the protective cover 4 rotates, the abutting rod 16 fixedly installed on the upper end of the visual positioning sensor 3 can extrude the extrusion block 17 in the cleaning box 5, the extrusion block 17 can indirectly extrude the water bag 19, and the cleaning agent filled in the water bag 19 can be discharged outward through the water jet pipe 18, since the water jet pipe 18 is provided in an inclined manner, the cleaning agent flowing out of the water jet pipe 18 can be sprayed to the surface of the protective cover 4 and flow along the arc-shaped outer wall of the protective cover 4, and the cleaning strip 8 sliding on the outer wall of the protective cover 4 can enhance the cleaning effect of the outer wall of the protective cover 4, in actual application, according to the different welding precision, the user can adjust the inclination angle of the visual positioning sensor 3 through the adjusting plate 12, one end of the adjusting plate 12 is rotatably connected with the corresponding position of the fixed plate 13, and the other end is movably connected with the electric sliding table arranged on the plug plate 9, so that the inclination angle of the visual positioning sensor 3 can be adjusted by sliding the electric sliding table, and at the same time, the plug plate 9 is inserted and mounted in the inside of the mounting box 7, so that the visual positioning sensor 3 can be quickly mounted or dismounted.

[0035] The basic principle and main features of the utility model and the advantages of the utility model are shown and described above. Those skilled in the art should understand that the utility model is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principle of the utility model, and various changes and improvements can be made without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the utility model claimed. The scope of protection of the utility model is defined by the appended claims and their equivalents.

Claims

1. A visual positioning device for a welding robot, comprising a base (1), wherein a welding robot (2) is movably mounted on the upper surface of the base (1), characterized in that: The welding robot (2) is equipped with a visual positioning sensor (3) at its end. A protective cover (4) is rotatably mounted on the lower outer wall of the visual positioning sensor (3). The protective cover (4) has a semi-circular ring structure and multiple toothed grooves (20) are opened through the inner wall of the protective cover (4). An adjusting gear (15) is rotatably mounted on the lower outer wall of the visual positioning sensor (3) at the corresponding position of the toothed grooves (20) and meshes with the toothed grooves (20). A cleaning rod (6) is also fixedly mounted on the visual positioning sensor (3). A cleaning strip (8) is fixedly mounted at the end of the cleaning rod (6), and one side of the outer wall of the cleaning strip (8) is in contact with the outer wall of the protective cover (4).

2. The visual positioning device for a welding robot according to claim 1, characterized in that: The welding robot (2) has a mounting box (7) fixedly installed on its end outer wall. The mounting box (7) has a slot (11) on it. The visual positioning sensor (3) is movably connected to a plug plate (9) on the outer wall of the side of the welding robot (2) that is close to it. The plug plate (9) is matched with the slot (11).

3. The visual positioning device for a welding robot according to claim 2, characterized in that: The visual positioning sensor (3) has a fixed plate (13) fixedly installed on the outer wall of the side of the insert plate (9). The outer wall of the fixed plate (13) is rotatably connected to an adjustment plate (12). The other end of the adjustment plate (12) is slidably connected to the insert plate (9), and the lower end of the fixed plate (13) is rotatably connected to the lower end of the insert plate (9).

4. The visual positioning device for a welding robot according to claim 3, characterized in that: A baffle (10) is fixedly installed on the upper end of the insert plate (9), and the length of the baffle (10) is the same as the width of the mounting box (7).

5. The visual positioning device for a welding robot according to claim 4, characterized in that: A cleaning box (5) is fixedly installed on the outer wall of one end of the protective cover (4). A water bladder (19) is movably installed inside the cleaning box (5). A water spray pipe (18) is fixedly connected to the water bladder (19). The end of the water spray pipe (18) passes through the corresponding position on the cleaning box (5) and extends to the outside of the cleaning box (5). The water spray pipe (18) is set at an angle.

6. The visual positioning device for a welding robot according to claim 5, characterized in that: A squeezing block (17) is slidably installed on the upper end of the cleaning box (5). The bottom surface of the squeezing block (17) is in contact with the water bag (19), and a stop rod (16) is fixedly installed on the upper end of the visual positioning sensor (3) at the position corresponding to the squeezing block (17).

7. The visual positioning device for a welding robot according to claim 6, characterized in that: The cleaning rod (6) is fixedly installed with a connecting rod (21) at its end. The connecting rod (21) is L-shaped. A groove (14) is provided on the protective cover (4) at the position corresponding to the end of the connecting rod (21), and the end of the connecting rod (21) slides inside the groove (14).

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