Visual guidance welding robot

Abstract

The visual guidance welding robot comprises a first mechanical arm, a second mechanical arm is rotationally installed at one end of the first mechanical arm, a third mechanical arm is arranged on the second mechanical arm, and a first connecting base is arranged at one end of the third mechanical arm; the welding mechanism, the polishing assembly and the rotating assembly are arranged, a first air cylinder is driven to drive a welding gun to weld a welding part of a weldment, after welding is completed, the first air cylinder drives the welding gun to contract, a second motor drives the welding gun to rotate, and then the welding gun is driven to rotate. And the second air cylinder is driven to drive the grinding assembly to conduct grinding, so that welding work and grinding work are conducted at the same time, and the practical performance is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding robots, in particular to a visual guidance welding robot. BACKGROUND

[0002] A welding robot is an industrial robot used to automatically perform welding tasks, which can independently complete the welding operation of workpieces according to pre-set programs and paths. A visual guidance welding robot refers to using machine vision technology to guide the welding robot to perform accurate operations during the welding process. This technology acquires three-dimensional point cloud information of workpieces by installing high-precision 3D vision sensors such as high-precision 3D cameras on the robot, and extracts weld information through intelligent algorithms to calculate accurate welding points and poses.

[0003] Some existing visual guidance welding robots often only perform welding work during use, and cannot perform certain polishing work on the welded parts after welding, so that some burrs generated after welding need to be manually polished and removed, thereby reducing the practical performance. CONTENT OF THE INVENTION

[0004] In order to solve the problems raised in the above background art, the present application provides a visual guidance welding robot.

[0005] The visual guidance welding robot provided by the present application adopts the following technical solution:

[0006] A visual guidance welding robot, comprising a first mechanical arm, one end of the first mechanical arm rotatably mounting a second mechanical arm, the second mechanical arm being provided with a third mechanical arm, one end of the third mechanical arm being provided with a first connecting seat, the inside of the first connecting seat being rotatably mounted with a movable seat through a damping rotating shaft, the bottom of the movable seat being connected with a welding mechanism, the other end of the second mechanical arm being mounted with a first motor, one end of the first motor being connected with an extension assembly driving the third mechanical arm to extend and retract.

[0007] Preferably, the welding mechanism comprises a fixed plate mounted on the bottom of the movable seat and connected with one end of a rotating rod, one end of the fixed plate being mounted with a first cylinder, one end of the first cylinder penetrating through a through hole formed in the fixed plate and being connected with a first mounting seat.

[0008] Preferably, the top of the first mounting seat is provided with symmetrical limiting rods, one end of the limiting rods penetrating through limiting holes formed in the fixed plate at the edges on both sides of the first cylinder, the bottom of the first mounting seat being mounted with a welding gun, one side of the welding gun being mounted with a first high-definition camera.

[0009] Preferably, the other end of the fixed plate is provided with a second air cylinder, one end of the second air cylinder penetrates through the through hole formed in the fixed plate, and is connected with a second mounting seat, the bottom of the second mounting seat is provided with a polishing assembly, the polishing assembly comprises a polishing motor and a polishing disc, and the side wall of the second mounting seat is further provided with a second high-definition camera.

[0010] Preferably, the top of the movable seat is further provided with a rotating assembly for adjusting the welding mechanism and the polishing assembly, the rotating assembly comprises a second motor installed at the top of one end of the movable seat, the output end of the second motor penetrates through the through hole formed in the movable seat, and is connected with a driving gear, the driving gear is in engagement with a driven gear, and the driven gear is fixedly installed on the rotating rod rotatably installed in the bearing seat at the bottom of the movable seat.

[0011] Preferably, the telescopic assembly comprises a lead screw rotatably installed in the through slot in the second mechanical arm, one end of the lead screw is connected with the output end of the first motor, the other end of the lead screw is connected with the bearing seat arranged on the inner wall of the through slot, and a lead sleeve seat is adaptively installed on the lead screw.

[0012] Preferably, one end of the lead sleeve seat penetrates through the sliding groove formed in the side wall of the second mechanical arm, and is connected with the side wall of the third mechanical arm, the inner top surface and the bottom surface of the third mechanical arm are respectively provided with sliding seats, and the sliding seats are slidably installed on the two sliding rods arranged in the through slot of the second mechanical arm.

[0013] Preferably, the other end of the first mechanical arm is rotatably installed on the rotating shaft arranged in the second connecting seat, the side wall of the second connecting seat is provided with a third motor, the output end of the third motor is connected with one end of the rotating shaft, and the second connecting seat is rotatably installed between the base.

[0014] In summary, the present application has the following beneficial technical effects:

[0015] 1、The welding mechanism, the polishing assembly and the rotating assembly are arranged, the welding gun is driven to move to the welding position for welding work through the first air cylinder, after the welding is completed, the welding is retracted through the first air cylinder, then the second motor is driven, the driving gear drives the driven gear to rotate, the fixed plate is rotated to drive the polishing assembly to move to the welding position, the polishing assembly is driven to move to polish the welding position through the second air cylinder, so that the welding work and the polishing work are simultaneously performed, the labor degree of manual polishing is reduced, and the practicality is improved.

[0016] 2、The utility model discloses set telescopic subassembly, through drive first motor drive screw rod rotation, make silk cover seat drive third mechanical arm through the slide of inside top surface and bottom surface setting and slide along slide rod, thereby realize the extension and contraction of third mechanical arm to change the radius and length of work, make can carry out the welding operation in the workspace of different size, improved adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structure schematic view of the visual guidance welding robot in the embodiment of the application.

[0018] Figure 2 It is a structure schematic view of the welding mechanism in the embodiment of the application.

[0019] Figure 3 It is the explosion schematic view of second mechanical arm and third mechanical arm in the embodiment of the application.

[0020] Figure 4 It is the structure of the embodiment of the application Figure 3 The structure of the embodiment of the application is enlarged.

[0021] Explanation of reference numerals: 1, first mechanical arm;2, second mechanical arm;3, third mechanical arm;4, first connecting seat;5, movable seat;6, first motor;7, rotating rod;8, fixed plate;9, first cylinder;10, first mounting seat;11, welding torch;12, second cylinder;13, second mounting seat;14, polishing assembly;15, second motor;16, driving gear;17, driven gear;18, screw;19, silk cover seat;20, slide;21, slide rod;22, second connecting seat;23, third motor;24, base. DETAILED DESCRIPTION

[0022] The application will be further described in detail below in combination with the accompanying drawings. Figure 1 -4 to the application.

[0023] The embodiment of the application discloses a visual guidance welding robot, which comprises a first mechanical arm 1, one end of the first mechanical arm 1 is rotationally installed with a second mechanical arm 2, the second mechanical arm 2 is provided with a third mechanical arm 3, one end of the third mechanical arm 3 is provided with a first connecting seat 4, characterized in that: the inside of the first connecting seat 4 is rotationally installed with a movable seat 5 through a damping rotating shaft, the bottom of the movable seat 5 is connected with a welding mechanism, the other end of the second mechanical arm 2 is installed with a first motor 6, one end of the first motor 6 is connected with a telescopic subassembly for driving the third mechanical arm 3 to extend and retract, the other end of the first mechanical arm 1 is rotationally installed on a rotating shaft arranged in the inside of a second connecting seat 22, the side wall of the second connecting seat 22 is installed with a third motor 23, the output end of the third motor 23 is connected with one end of the rotating shaft, and the second connecting seat 22 is rotationally installed between the base 24.

[0024] Reference Figure 1 And Figure 2 The welding mechanism comprises a fixed plate 8 connected to one end of the rotating rod 7 through a rotating rod 7 at the bottom of the movable seat 5, one end of the fixed plate 8 is provided with a first cylinder 9, one end of the first cylinder 9 penetrates through the through hole of the fixed plate 8, and is connected with a first mounting seat 10, the top of the first mounting seat 10 is provided with symmetrical limiting rods, one end of the limiting rods penetrates through the limiting holes of the fixed plate 8 located at the edges of the first cylinder 9, the bottom of the first mounting seat 10 is provided with a welding gun 11, one side of the welding gun 11 is provided with a first high-definition camera, the other end of the fixed plate 8 is provided with a second cylinder 12, one end of the second cylinder 12 penetrates through the through hole of the fixed plate 8, and is connected with a second mounting seat 13, the bottom of the second mounting seat 13 is provided with a polishing assembly 14, the polishing assembly 14 comprises a polishing motor and a polishing disc, the sidewall of the second mounting seat 13 is further provided with a second high-definition camera, the top of the movable seat 5 is further provided with a rotating assembly for driving the welding mechanism and the polishing assembly 14 to adjust, the rotating assembly comprises a second motor 15 installed at one end of the top of the movable seat 5, the output end of the second motor 15 penetrates through the through hole of the movable seat 5, and is connected with a driving gear 16, the driving gear 16 is engaged with a driven gear 17, the driven gear 17 is fixedly installed on the rotating rod 7 rotatably installed in the bearing seat at the bottom of the movable seat 5, and more specifically, when the welding piece is welded, the first cylinder 9 is driven to drive the welding gun 11 provided at the bottom of the first mounting seat 10 to move to the welding position of the welding piece, and the welding gun 11 is used for welding the welding piece, after the welding work is completed, the second motor 15 is driven, the output end of the second motor 15 is connected with the driving gear 16, the driving gear 16 drives the driven gear 17 to rotate, the rotating rod 7 rotates to drive the fixed plate 8 to rotate, the fixed plate 8 drives the polishing assembly 14 to move to the position where the welding of the welding piece is completed, at this time, the second cylinder 12 is driven to drive the polishing assembly 14 provided at the bottom of the second mounting seat 13 to polish the welding position of the welding piece, so as to remove the burrs of the welding position, so that the welding and polishing are carried out at the same time, the practicality is improved, and the labor degree of the manual polishing of the workers is reduced.

[0025] Reference Figure 2 And Figure 3The telescopic assembly comprises a screw rod 18 rotatably installed in a through slot in the second mechanical arm 2, one end of the screw rod 18 is connected with the output end of the first motor 6, the other end of the screw rod 18 is connected with a bearing seat arranged on the inner wall of the through slot, a screw sleeve seat 19 is adaptively installed on the screw rod 18, one end of the screw sleeve seat 19 penetrates through a sliding slot formed in the side wall of the second mechanical arm 2 and is connected with the side wall of the third mechanical arm 3, the inner top surface and the inner bottom surface of the third mechanical arm 3 are respectively provided with sliding seats 20, the sliding seats 20 are slidably installed on two sliding rods 21 arranged in the through slot of the second mechanical arm 2, more specifically, when the position of the third mechanical arm 3 needs to be adjusted, the first motor 6 is driven to rotate the screw rod 18, so that the screw sleeve seat 19 adaptively installed on the screw rod 18 drives the third mechanical arm 3 to move, and the sliding seats 20 arranged on the inner top surface and the inner bottom surface of the third mechanical arm 3 slide along the sliding rods 21, so that the third mechanical arm 3 is stretched and contracted to change the working radius and length, so that welding work can be carried out in different sizes of working space, and the adaptability is improved.

[0026] The implementation principle of the visual guidance welding robot according to the embodiment of the application is as follows: in use, the positions of the first mechanical arm 1 and the second mechanical arm 2 are adjusted by driving the third motor 23, at the same time, the first motor 6 is driven to rotate the screw rod 18, so that the screw sleeve seat 19 adaptively installed on the screw rod 18 drives the third mechanical arm 3 to move, and the sliding seats 20 arranged on the inner top surface and the inner bottom surface of the third mechanical arm 3 slide along the sliding rods 21, so that the third mechanical arm 3 drives the welding mechanism to move to the welding position of the welding piece, then the first cylinder 9 is driven to drive the welding gun 11 arranged at the bottom of the first mounting seat 10 to move to the welding position of the welding piece to perform welding work on the welding piece, after the welding work is completed, the second motor 15 is driven to drive the driving gear 16 to rotate the driven gear 17, so that the rotating rod 7 rotates to drive the fixed plate 8 to rotate, so that the fixed plate 8 drives the polishing assembly 14 to move to the position where the welding of the welding piece is completed, at this time, the second cylinder 12 is driven to drive the polishing assembly 14 to polish the welding position of the welding piece, so that the burrs at the welding position are removed, so that the welding work and the polishing work are simultaneously performed, the practical performance is improved, and the labor degree of manual polishing by the worker is reduced.

[0027] The above are preferred embodiments of the application, which do not limit the protection scope of the application, therefore: any equivalent changes made on the structure, shape and principle of the application should be covered within the protection scope of the application.

Claims

1. A vision-guided welding robot, comprising a first robotic arm (1), a second robotic arm (2) rotatably mounted on one end of the first robotic arm (1), a third robotic arm (3) disposed on the second robotic arm (2), and a first connecting seat (4) disposed on one end of the third robotic arm (3), characterized in that: The first connecting seat (4) has a movable seat (5) rotatably mounted inside via a damping shaft. The bottom of the movable seat (5) is connected to a welding mechanism. The other end of the second robotic arm (2) is equipped with a first motor (6). One end of the first motor (6) is connected to a telescopic component that drives the third robotic arm (3) to extend and retract.

2. The vision-guided welding robot according to claim 1, characterized in that: The welding mechanism includes a fixed plate (8) installed at the bottom of the movable seat (5) and connected to one end of a rotating rod (7). A first cylinder (9) is installed at one end of the fixed plate (8). One end of the first cylinder (9) passes through a through hole opened on the fixed plate (8) and is connected to a first mounting seat (10).

3. The vision-guided welding robot according to claim 2, characterized in that: The top of the first mounting base (10) is provided with symmetrical limiting rods. One end of the limiting rod passes through the limiting holes opened on both sides of the fixing plate (8) at the edge of the first cylinder (9). The bottom of the first mounting base (10) is equipped with a welding torch (11), and a first high-definition camera is installed on one side of the welding torch (11).

4. The vision-guided welding robot according to claim 2, characterized in that: A second cylinder (12) is installed at the other end of the fixing plate (8). One end of the second cylinder (12) passes through a through hole opened on the fixing plate (8) and is connected to a second mounting base (13). A grinding assembly (14) is installed at the bottom of the second mounting base (13). The grinding assembly (14) includes a grinding motor and a grinding disc. A second high-definition camera is also installed on the side wall of the second mounting base (13).

5. A vision-guided welding robot according to claim 1, characterized in that: The top of the movable seat (5) is also provided with a rotating assembly that drives the welding mechanism and the grinding assembly (14) for adjustment. The rotating assembly includes a second motor (15) installed at the top of one end of the movable seat (5). The output end of the second motor (15) passes through a through hole opened on the movable seat (5) and is connected to a drive gear (16). The drive gear (16) meshes with the driven gear (17). The driven gear (17) is fixedly installed on a rotating rod (7) that is rotatably installed in the bearing seat at the bottom of the movable seat (5).

6. A vision-guided welding robot according to claim 1, characterized in that: The telescopic assembly includes a lead screw (18) that is rotatably installed in the through groove inside the second robotic arm (2). One end of the lead screw (18) is connected to the output end of the first motor (6), and the other end of the lead screw (18) is connected to a bearing seat provided on the inner wall of the through groove. A thread sleeve seat (19) is adapted to be installed on the lead screw (18).

7. A vision-guided welding robot according to claim 6, characterized in that: One end of the threaded sleeve seat (19) passes through the sliding groove opened in the side wall of the second robotic arm (2) and is connected to the side wall of the third robotic arm (3). The inner top surface and bottom surface of the third robotic arm (3) are respectively provided with sliding seats (20). The sliding seats (20) are slidably installed on two sliding rods (21) provided in the through groove of the second robotic arm (2).

8. A vision-guided welding robot according to claim 1, characterized in that: The other end of the first robotic arm (1) is rotatably mounted on a rotating shaft inside the second connecting seat (22). A third motor (23) is mounted on the side wall of the second connecting seat (22). The output end of the third motor (23) is connected to one end of the rotating shaft. The second connecting seat (22) is also rotatably mounted between the second connecting seat (22) and the base (24).

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