Iterative scanning welding robot and welding system

Abstract

The utility model relates to the technical field of iterative scanning welding, and provides an iterative scanning welding robot and a welding system, which comprise a welding robot, a rotating mechanism and an iterative scanning mechanism, the welding robot at least comprises a welding gun part; the welding gun part is used for welding a welding target; the iterative scanning mechanism is connected with the welding gun part through the rotating mechanism, and the iterative scanning mechanism is used for scanning a welding target; the rotating mechanism can drive the iterative scanning mechanism to rotate relative to the welding gun part through an electric signal of the iterative scanning mechanism; through the arrangement of the rotating mechanism, the iterative scanning mechanism can rotate relative to the welding gun part so as to rotate to the optimal angle; and meanwhile, interference of the welding gun part on the camera can be avoided through rotation of the iterative scanning mechanism, and multi-view-angle monitoring can be achieved through one iterative scanning mechanism through cooperation of the rotating mechanism.

Description

TECHNICAL FIELD

[0001] The utility model relates to iterative scanning welding technical field, especially iterative scanning welding robot and welding system. BACKGROUND

[0002] Welding is suitable for a variety of metal materials, including stainless steel, aluminum, nickel alloy, titanium and its alloy etc., and is widely used in aerospace, automobile manufacturing, pressure vessel and other fields with high demand for welding. In the automatic welding of mechanical arm, the welding technology based on iterative scanning is an important development approach in the future. Iterative learning control (ILC) algorithm improves control accuracy through successive optimization, and is suitable for periodic tasks, but the working conditions often change in the welding process, such as material position, material characteristics and environmental changes. Its dependence on repetition leads to poor adaptability and slow convergence speed.

[0003] CN118513742A proposes a kind of welding robot and welding method, the welding robot includes the mobile chassis capable of running on ground, mechanical arm installed on mobile chassis, visual system for detecting weld for installation on mechanical arm, welding torch installed at the end of mechanical arm, and wire feeding mechanism for providing welding wire for welding torch, mechanical arm drives welding torch movement to execute welding job;The periphery of mobile chassis is provided with connecting plate capable of extending to the outside of mobile chassis, and the supporting leg capable of supporting on ground is connected to connecting plate in a liftable manner.The present application sets up connecting plate and supporting leg, after welding robot runs to the target position to be welded, connecting plate extends outward, so that supporting leg descends and contacts with ground, increase the stability of mobile chassis, to prevent mobile chassis from shaking during welding, avoid the shaking of mechanical arm to affect welding quality;And when the ground of target position is uneven, because each supporting leg can be lifted individually, it can adapt to the unevenness of ground.

[0004] CN118989777A relates to the technical field of welding robots, and provides a path planning method, a welding control method, a device and equipment for a welding robot.The method comprises the following steps: causing each ant to select a next path segment of a welding work area according to pheromones and heuristic information; sampling a candidate path segment from the next path segment of the contemporary ant according to an enhanced Monte Carlo algorithm; calculating a welding cost of each candidate path segment according to a path length, a welding time, a welding quality, a welding safety, and a welding energy consumption of each candidate path segment, and taking the candidate path segment with the lowest welding cost as an optimal path segment; updating a selection probability of each candidate path segment according to the welding cost of each candidate path segment; updating pheromones of each candidate path segment according to the selection probability of each candidate path segment; and iterating the above steps until an iteration termination condition is met, to obtain a complete welding path of the welding work area. The embodiments of the present application can improve the path planning efficiency, welding flexibility and welding quality of the welding robot.

[0005] In the prior art, the optimal camera angle changes due to material position, material characteristics and environmental changes during iterative scanning, and the existing iterative scanning mechanism is usually fixed on the welding gun, so that it cannot be adjusted to the optimal position required for iterative scanning in time, thereby causing problems such as the iterative scanning mechanism being blocked by the welding gun during welding, and affecting the accuracy of welding. Content of the utility model

[0006] It is found through long-term practice that the optimal camera angle changes due to material position, material characteristics and environmental changes during iterative scanning, and the existing iterative scanning mechanism is usually fixed on the welding gun, so that it cannot be adjusted to the optimal position required for iterative scanning in time, thereby causing problems such as the iterative scanning mechanism being blocked by the welding gun during welding, and affecting the accuracy of welding; in the prior art, multiple cameras are arranged, which increases the difficulty of data storage and processing, and the structure is relatively redundant. The utility model aims to provide an iterative scanning welding robot and a welding system to at least solve the above technical problems in the prior art.

[0007] Therefore, the utility model aims to provide an iterative scanning welding robot, which comprises a welding robot, a rotating mechanism and an iterative scanning mechanism; the welding robot at least comprises a welding gun part; the welding gun part is used for welding a welding target; the iterative scanning mechanism is connected with the welding gun part through the rotating mechanism, and is used for scanning the welding target; and the rotating mechanism can drive the iterative scanning mechanism to rotate relative to the welding gun part through an electric signal of the iterative scanning mechanism.

[0008] In one embodiment, the welding robot further comprises a base and a mechanical arm; the mechanical arm is connected with the base, and the welding gun part is connected with the mechanical arm; and the mechanical arm can drive the welding gun part to move.

[0009] In one embodiment, the rotating mechanism comprises a connecting plate and a gear assembly; one end of the connecting plate is rotationally connected with the welding gun part, and the other end is connected with the gear assembly; the iterative scanning mechanism is connected with the connecting plate, and is located between the welding gun part and the gear assembly; and the gear assembly can drive the connecting plate to rotate relative to the welding gun part, so as to drive the iterative scanning mechanism to move.

[0010] In one embodiment, the gear assembly comprises a gear ring, a planetary gear and a gear motor; the gear motor is connected to the connecting plate, the output end of the gear motor is connected to the planetary gear to drive the planetary gear to rotate; the planetary gear is connected to the gear ring; when the planetary gear rotates, the planetary gear can drive the connecting plate to rotate relative to the welding gun part; the planetary gear is fixedly connected to the welding gun part.

[0011] In one embodiment, the gear ring is fixedly connected to the welding gun part through a support.

[0012] In one embodiment, a connecting shaft is arranged on the support, and the connecting shaft is used for connecting a limiting gear; the planetary gear is driven by the gear motor to move to a specified position, and the planetary gear abuts against the limiting gear.

[0013] In one embodiment, the limiting gear is a rubber gear.

[0014] In one embodiment, the iterative scanning mechanism further comprises a shell; the shell is connected to the welding gun part through the gear ring, and a clamping groove for accommodating the gear ring is arranged in the shell.

[0015] In one embodiment, the shell is provided with an annular transparent part on the side of the welding head of the welding gun part, and the annular transparent part is used for the movement of the iterative scanning mechanism.

[0016] The utility model also provides a welding system, the welding system at least includes the iterative scanning welding robot.

[0017] The utility model provides a kind of iterative scanning welding robot, including welding robot, rotating mechanism and iterative scanning mechanism;The welding robot at least includes welding gun part;The welding gun part is used to weld welding target;The iterative scanning mechanism is connected with the welding gun part by the rotating mechanism, and the iterative scanning mechanism is used to scan the welding target;The rotating mechanism can be driven by the electrical signal of the iterative scanning mechanism relative to the welding gun part rotating;The setting of rotating mechanism can make the iterative scanning mechanism can be rotated relative to the welding gun part, to rotate to optimal angle;Meanwhile, the interference of welding gun part to camera can also be avoided by the rotation of iterative scanning mechanism, and multiple visual angle monitoring can be realized by the cooperation of rotating mechanism by a iterative scanning mechanism.

[0018] Other features and advantages of the utility model will be described in detail in the subsequent specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which form a part of this patent, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and serve to explain the principles of the application. In the drawings:

[0020] Figure 1 A structural diagram of an iterative scanning welding robot according to an embodiment of the present application;

[0021] Figure 2 A top view of an iterative scanning welding robot according to an embodiment of the present application;

[0022] Figure 3 A partial view of an iterative scanning welding robot according to an embodiment of the present application;

[0023] Figure 4 A shell structure diagram of an iterative scanning welding robot according to an embodiment of the present application.

[0024] Explanation of reference signs:

[0025] 1, welding robot; 11, welding gun part; 12, base; 13, mechanical arm; 2, rotating mechanism; 21, connecting plate; 22, gear assembly; 221, gear ring; 222, planetary gear; 223, gear motor; 224, support; 2241, connecting shaft; 2242, limit gear; 3, iterative scanning mechanism; 31, shell; 32, clamping groove. DETAILED DESCRIPTION

[0026] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0027] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second" and the like in the description and in the claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the utility model described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or equipment including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or equipment;"Fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0029] Through long-term practice, it is found that the optimal camera angle will change due to material position, material characteristics and environmental changes during iterative scanning, and the existing iterative scanning mechanism 3 is usually fixed on the welding gun, so that it cannot be adjusted to the optimal position required by iterative scanning in time, thereby causing problems such as the welding gun blocking the iterative scanning mechanism 3 during welding, thereby affecting the accuracy of welding. In the prior art, multiple cameras are provided, which increases the difficulty of data storage and processing, and the structure is relatively redundant. The utility model aims to provide an iterative scanning welding robot 1 and a welding system to at least solve the above technical problems in the prior art.

[0030] Figure 1 A structure diagram of an iterative scanning welding robot 1 of the utility model embodiment; Figure 2 A top view of an iterative scanning welding robot 1 of the utility model embodiment; Figure 1 And Figure 2 ;

[0031] The utility model provides a kind of iterative scanning welding robot 1, including welding robot 1, rotating mechanism 2 and iterative scanning mechanism 3;The welding robot 1 at least includes welding gun part 11;The welding gun part 11 is used to weld welding target;The iterative scanning mechanism 3 is connected with the welding gun part 11 by the rotating mechanism 2, and the iterative scanning mechanism 3 is used to scan the welding target;The rotating mechanism 2 can be driven by the electrical signal of the iterative scanning mechanism 3 relative to the welding gun part 11 rotation;The setting of rotating mechanism 2 can make the iterative scanning mechanism 3 can be rotated relative to the welding gun part 11, to rotate to optimal angle;Meanwhile, the interference of welding gun part 11 to camera can also be avoided by the rotation of iterative scanning mechanism 3, and multiple visual angle monitoring can be realized by the cooperation of rotating mechanism 2 by one iterative scanning mechanism 3.

[0032] The utility model discloses an iterative scanning welding robot 1, including: welding robot 1, rotating mechanism 2 and iterative scanning mechanism 3, welding robot 1 at least includes welding torch part 11, welding torch part 11 is used to carry out welding to the welding target, iterative scanning mechanism 3 is connected with welding torch part 11 through rotating mechanism 2, and iterative scanning mechanism 3 is used to scan the welding target, and rotating mechanism 2 can drive iterative scanning mechanism 3 to rotate relative to welding torch part 11 through the electric signal of iterative scanning mechanism 3.

[0033] In the embodiment of the utility model, iterative scanning welding robot 1 includes welding robot 1, rotating mechanism 2 and iterative scanning mechanism 3, and welding robot 1 refers to the robot that can complete the welding operation to workpiece, and welding robot 1 includes base 12, mechanical arm 13 and welding torch part 11, and base 12 can be connected to workbench or ground rail etc., the mechanical arm 13 is connected with base 12, and the mechanical arm 13 can drive welding torch part 11 to move relative to base 12, to make welding torch part 11 weld workpiece. Welding torch part 11 is used to carry out welding to the welding target, and specifically, welding torch part 11 head is used to carry out welding to the welding target. Iterative scanning mechanism 3 is connected with welding torch part 11 through rotating mechanism 2, and iterative scanning mechanism 3 is used to scan the welding target, and iterative scanning mechanism 3 can recognize and track weld and instruct welding robot 1 to weld. And in the tracking process, iterative scanning mechanism 3 can be blocked by welding torch and lead to the failure of recognition and tracking, or the error of recognition and tracking. Therefore, the utility model drives iterative scanning mechanism 3 to rotate relative to welding torch part 11 through rotating mechanism 2, to better realize the tracking and recognition of weld, and iterative scanning mechanism 3 can send electric signal to rotating mechanism 2, to make rotating mechanism 2 drive iterative scanning mechanism 3 to rotate relative to welding torch part 11.

[0034] Figure 3 It is a partial view of the iterative scanning welding robot 1 of the utility model embodiment, please refer to Figure 3 ;

[0035] In one embodiment, rotating mechanism 2 includes connecting plate 21 and gear assembly 22, one end of connecting plate 21 is rotationally connected with welding torch part 11, the other end is connected with gear assembly 22, iterative scanning mechanism 3 is connected with connecting plate 21, and iterative scanning mechanism 3 is located between welding torch part 11 and gear assembly 22, and gear assembly 22 can drive connecting plate 21 to rotate relative to welding torch part 11, to drive iterative scanning mechanism 3 to move.

[0036] In the embodiment of the utility model, the rotating mechanism 2 includes the connecting plate 21 and the gear assembly 22, one end of the connecting plate 21 is rotatably connected with the welding gun part 11, the rotating plate is provided with a connecting hole, and the rotating plate is connected on the welding gun part 11 through the connecting hole. With the welding gun part 11, further, a bearing can be arranged between the rotating plate and the welding gun part 11 to make the rotation more smooth. The other end is connected with the gear assembly 22;The gear assembly 22 includes the gear ring 221, the planetary gear 222 and the gear motor 223;Specifically, the connecting plate 21 is fixedly connected with the gear motor 223 in the gear assembly 22. The output end of the gear motor 223 is connected with the planetary gear 222 to drive the planetary gear 222 to rotate around the output shaft;The planetary gear 222 is engaged with the gear ring 221;When the planetary gear 222 rotates, the planetary gear 222 is engaged with the ring, and the gear ring 221 is fixedly connected on the welding gun part 11;Therefore, the rotation of the planetary gear 222 can drive the planetary gear 222 to make circular motion relative to the gear ring 221, and the planetary gear 222 drives the driving motor and the connecting plate 21 to rotate relative to the welding gun part 11;So as to realize the circular rotation. Wherein the electric signal from the iterative scanning mechanism 3 is fed back to the gear motor 223 to control the rotation of the gear motor 223.

[0037] The iterative scanning mechanism 3 is connected with the connecting plate 21, and the iterative scanning mechanism 3 is located between the welding gun part 11 and the gear assembly 22;The gear assembly 22 can drive the connecting plate 21 to rotate relative to the welding gun part 11 to drive the movement of the iterative scanning mechanism 3. Therefore, through the cooperation of the planetary gear 222 and the gear ring 221, the movement of the iterative scanning mechanism 3 can be driven to be at the optimal identification angle, avoiding the interference of the welding gun on the camera. And, through a camera, multi-angle monitoring can be realized, avoiding the case that multiple cameras are arranged around the welding gun, thereby reducing the complexity of the equipment. Wherein the iterative scanning mechanism 3 is an iterative code scanner, and at least one visible camera is arranged.

[0038] Further, the gear ring 221 is fixedly connected with the welding gun part 11 through a support 224. One end of the support 224 is fixedly connected with the welding gun part 11, and the other end is fixedly connected with the gear ring 221. Wherein, a connecting shaft 2241 is arranged on the support 224, and the connecting shaft 2241 is used for connecting a limiting gear 2242; the planetary gear 222 is driven by the gear motor 223 to move to a specified position, and the planetary gear 222 abuts against the limiting gear 2242. The limiting gear 2242 is a rubber gear. Wherein, the specified position can be adjusted by the staff according to the different welding targets. Generally, it is the angle perpendicular to the ground. Wherein, the size of the rubber gear is larger than the size of the support 224, so that the planetary gear 222 can abut against the rubber gear before the connecting plate 21, so as to limit the planetary gear 222, thereby preventing the connecting plate 21 from driving the iterative scanning mechanism 3 to continue to rotate; so as to avoid damage caused by the winding of the line of the iterative scanning mechanism 3. Wherein, the limiting gear 2242 is rotatably connected on the connecting shaft 2241, so that when the planetary gear 222 abuts against the limiting gear 2242, the limiting gear 2242 is driven to rotate to engage, so as to avoid damage to the teeth of the planetary gear 222. Further, the rubber material can further protect the planetary gear 222.

[0039] Figure 4 It is a shell 31 structure diagram of the iterative scanning welding robot 1 of the embodiment of the utility model. Please refer to Figure 4 ;

[0040] Wherein, the iterative scanning mechanism 3 further includes a shell 31; the gear ring 221 of the shell 31 is connected with the welding gun part 11, and the shell 31 is internally provided with a clamping groove 32 for accommodating the gear ring 221.

[0041] Through the setting of the clamping groove 32, the gear ring 221 can be fixed, so that the movement is more stable. At the same time, the welding slag of the welding can be avoided to splash into the gear ring 221, which affects the movement of the gear and the gear ring 221.

[0042] Wherein, the shell 31 is provided with a ring-shaped transparent piece on the side of the welding head of the welding gun part 11 for the movement of the iterative scanning mechanism 3. The transparent piece can be glass or acrylic plate; or the side of the camera of the shell 31 is glass panel. So as to realize the protection of the camera of the iterative scanning mechanism 3, and not affect the detection of the weld.

[0043] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0044] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0045] In the several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only a logical function division. There can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical or other form.

[0046] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0047] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0048] The integrated unit, if realized in the form of software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical scheme of the present application or the part that contributes to the prior art or the whole or part of the technical scheme can be embodied in the form of software product, which is stored in a storage medium and includes a plurality of instructions for making a computer device (which can be a personal computer, mobile terminal, server or network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application.

[0049] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An iterative scanning welding robot, characterized in that, The welding robot (1), the rotating mechanism (2) and the iterative scanning mechanism (3) are included. The welding robot (1) at least includes a welding gun part (11); the welding gun part (11) is used for welding a welding target; The iterative scanning mechanism (3) is connected with the welding gun part (11) through the rotating mechanism (2), and the iterative scanning mechanism (3) is used for scanning the welding target; The rotating mechanism (2) can drive the iterative scanning mechanism (3) to rotate relative to the welding gun part (11) through the electrical signal of the iterative scanning mechanism (3). The welding robot (1) further includes a base (12) and a mechanical arm (13); 2. The iterative scanning welding robot of claim 1, wherein, The mechanical arm (13) is connected with the base (12), and the welding gun part (11) is connected with the mechanical arm (13); the mechanical arm (13) can drive the welding gun part (11) to move. The rotating mechanism (2) includes a connecting plate (21) and a gear assembly (22); 3. The iterative scanning welding robot of claim 1, wherein, One end of the connecting plate (21) is rotationally connected with the welding gun part (11), and the other end is connected with the gear assembly (22); the iterative scanning mechanism (3) is connected with the connecting plate (21), and the iterative scanning mechanism (3) is located between the welding gun part (11) and the gear assembly (22); The gear assembly (22) can drive the connecting plate (21) to rotate relative to the welding gun part (11) to drive the iterative scanning mechanism (3) to move. The gear assembly (22) includes a gear ring (221), a planetary gear (222) and a gear motor (223); 4. The iterative scanning welding robot of claim 3, wherein, The gear motor (223) is connected on the connecting plate (21), and an output end of the gear motor (223) is connected with the planetary gear (222) to drive the planetary gear (222) to rotate; The planetary gear (222) is connected with the gear ring (221); when the planetary gear (222) rotates, the planetary gear (222) can drive the connecting plate (21) to rotate relative to the welding gun part (11); The planetary gear (222) is fixedly connected with the welding gun part (11). The gear ring (221) is fixedly connected with the welding gun part (11) through a support (224).

5. The iterative scanning welding robot of claim 4, wherein, A connecting shaft (2241) is arranged on the support (224), and the connecting shaft (2241) is used for connecting a limiting gear (2242); 6. The iterative scanning welding robot of claim 5, wherein, The planetary gear (222) moves to a specified position under the drive of the gear motor (223), and the planetary gear (222) abuts against the limiting gear (2242). The limiting gear (2242) is a rubber gear.

7. The iterative scanning welding robot of claim 6, wherein, The iterative scanning mechanism (3) further includes a shell (31); 8. The iterative scanning welding robot of claim 4, wherein, The shell (31) is connected with the welding gun part (11) through the gear ring (221), and a clamping groove (32) for accommodating the gear ring (221) is arranged in the shell (31). An annular transparent piece for the movement of the iterative scanning mechanism (3) is arranged on a side of the shell (31) facing the welding head of the welding gun part (11).

9. The iterative scanning welding robot of claim 8, wherein, ​ 10. A welding system characterized by, The welding system comprises at least one iterative scanning welding robot (1) according to any one of claims 1-9.

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