Intelligent welding device and intelligent welding system

Abstract

The utility model relates to the technical field of welding, and particularly provides an intelligent welding device and an intelligent welding system. The intelligent welding machine device comprises a moving mechanism, a welding mechanism and a visual mechanism. The moving mechanism comprises a ground rail, a rail is arranged on the ground rail, a sliding seat is arranged on the rail in a sliding mode, a welding mechanism is fixedly arranged on the sliding seat, and the welding mechanism comprises a welding arm and a welding gun; the visual mechanism comprises a path planning assembly and a visual monitoring assembly; the path planning assembly is fixedly arranged at the front end of the welding gun, and the visual monitoring assemblies are arranged on the two sides of the welding gun. The path planning assembly can determine a welding path by scanning a workpiece, and the visual monitoring assembly can monitor the welding process in real time. The visual monitoring assemblies on the two sides of the welding gun can rotate along with rotation of the welding gun, the whole welding process is monitored without dead corners, and an operator can obtain a clear welding picture, so that welding parameters are adjusted.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding technical field especially relates to a kind of intelligent welding device and intelligent welding system. BACKGROUND

[0002] Intelligent welding robot works cooperatively through mechanical arm, control system, welding power supply and sensor etc. core components, realizes accurate welding operation. Mechanical arm is the core part of welding robot, usually by the joint of multiple degrees of freedom, can be flexibly moved to the required position, and carries out welding operation by welding gun. Control system is the "brain" of welding robot, is responsible for receiving external instruction, controls the movement path of mechanical arm, welding parameter and welding process. Welding power supply provides energy for welding process, and the current and voltage output directly affect welding quality. Sensor monitors current, voltage, temperature etc. in welding process Parameters, and feedback data to control system, to ensure welding quality. Auxiliary equipment such as welding wire feeding device, cooling system and protective gas system etc. provide necessary support for welding process.

[0003] CN113618299 discloses a kind of full-automatic welding robot based on machine vision, full-automatic welding robot based on machine vision includes: main body;Servo motor is installed at the bottom of the main body, and the top of servo motor is equipped with screw rod, and the inside of the sliding slot of main body is installed with mounting piece;Main body includes: lifting platform, lifting platform is installed at the top of main body, and the bottom of lifting platform is connected with the screw rod of servo motor through screw hole;Collaborative robot, collaborative robot is fixed at the top of lifting platform, and the front end of collaborative robot is installed with transmission arm rod;Laser vision positioning tracker, laser vision positioning tracker is installed at the top front end of transmission arm rod;Welding torch, welding torch is installed at the front end of transmission arm rod;Mounting block, mounting block is rectangular structure, and two rectangular blocks are equipped at the side of mounting block, L-shaped slot is equipped in the inside of mounting block, and mounting block is fixed at the top two angle positions of main body front end;Limiting piece, limiting piece is Z-shaped structure, and rubber rod is equipped at the outside of limiting piece, the inside of rubber rod is arc structure, and limiting piece is installed in the L-shaped slot of mounting block inside;Mounting piece, the mounting piece includes buffer mechanism, and buffer mechanism is installed at the rear end of mounting piece, the mounting piece is T-shaped structure, and the mounting piece is at the front end of sliding slot, and swing plate is installed above the mounting piece;The buffer mechanism includes: inner block, inner block is T-shaped structure, and inner block is installed in the inside of sliding slot, two round holes are equipped at the bottom of inner block, and guide rod is inserted into the inside of round hole;Top block, top block is L-shaped structure, and the bottom of top block is connected with the top end of inner block, two rectangular slots are equipped at the top end of top block, and the two ends of top block are in contact with the inner end of two limiting pieces;Swing plate, the swing plate is T-shaped plate structure, and round hole is equipped at the front end and middle position of swing plate, the front end of swing plate is arc structure, and the top end of rotating head is embedded in the round hole of swing plate middle position.

[0004] In the prior art, in order to ensure the weld quality and consistency in the welding process, it is necessary to continuously detect the dynamic changes of the welding area, the melting position of the welding wire and the molten pool and timely adjust the welding parameters. The existing welding robot is equipped with a visual detection module. However, the industrial camera used for visual detection is generally arranged at the top front end of the welding gun. When the welding workpiece is uneven and an occlusion appears, the camera located at the top front end of the welding gun cannot obtain a complete monitoring picture. Practical new type content

[0005] It is found through long-term practice that, in the prior art, in order to ensure the weld quality and consistency in the welding process, it is necessary to continuously detect the dynamic changes of the welding area, the melting position of the welding wire and the molten pool and timely adjust the welding parameters. The existing welding robot is equipped with a visual detection module. However, the industrial camera used for visual detection is generally arranged at the top front end of the welding gun. When the welding workpiece is uneven and an occlusion appears, the camera located at the top front end of the welding gun cannot obtain a complete monitoring picture.

[0006] Therefore, the utility model aims at providing an intelligent welding device and an intelligent welding system to at least solve the above technical problems in the prior art.

[0007] In one aspect of the utility model, an intelligent welding device and an intelligent welding system are provided, wherein the intelligent welding device comprises a moving mechanism, a welding mechanism and a visual mechanism.

[0008] The moving mechanism comprises a ground rail, wherein a track is arranged on the ground rail, a sliding seat is slidingly arranged on the track, and the welding mechanism is fixedly arranged on the sliding seat. The welding mechanism comprises a welding arm and a welding gun.

[0009] The visual mechanism comprises a path planning assembly and a visual monitoring assembly. The path planning assembly is fixedly arranged at the front end of the welding gun, and the visual monitoring assembly is rotatably arranged on both sides of the welding gun. The path planning assembly can determine a welding path by scanning a workpiece, and the visual monitoring assembly can monitor a welding process in real time.

[0010] In one embodiment, the visual monitoring assembly comprises a first industrial camera and a second industrial camera, and the first industrial camera and the second industrial camera are symmetrically arranged on both sides of the welding gun.

[0011] In one embodiment, a connecting plate and a rotating assembly are arranged on the welding gun. One end of the connecting plate is fixedly connected with the welding gun, and the other end of the connecting plate is connected with the rotating assembly through a connecting assembly.

[0012] In one embodiment, a camera mounting plate is fixedly arranged on the rotating assembly.

[0013] In one embodiment, the camera mounting plate comprises a first mounting plate and a second mounting plate, which are symmetrically arranged on two sides of the rotating assembly, respectively.

[0014] In one embodiment, the first mounting plate and the second mounting plate are respectively fixedly provided with the first industrial camera and the second industrial camera.

[0015] In one embodiment, the connecting assembly comprises a connecting column and a connecting chain; the upper end surface of the connecting column is fixedly connected with the connecting plate, the lower end surface of the connecting column is provided with a connecting disc, a circle of grooves is arranged in the circumferential direction of the connecting disc, one end of the connecting chain is sleeved in the groove, and the other end of the connecting chain is sleeved on the rotating assembly.

[0016] In one embodiment, the rotating assembly and the connecting disc are arranged on the same horizontal plane.

[0017] In one embodiment, the moving mechanism is connected with a driving mechanism, and the driving mechanism can drive the track to move.

[0018] In another aspect, the utility model provides an intelligent welding system, the intelligent welding system includes the intelligent welding device.

[0019] The intelligent welding device disclosed by the utility model is provided with a moving mechanism, a welding mechanism and a visual mechanism, the moving mechanism comprises a ground rail, a track is arranged on the ground rail, a sliding seat is slidably arranged on the track, the welding mechanism is fixedly arranged on the sliding seat, the welding mechanism comprises a welding arm and a welding gun, and the welding arm is rotationally connected with the welding gun; the sliding seat can slide on the track, the sliding seat drives the welding mechanism to move, and different positions of a workpiece are welded. The visual mechanism comprises a path planning assembly and a visual monitoring assembly; the path planning assembly is fixedly arranged at the front end of the welding gun, the visual monitoring assembly is rotationally arranged on both sides of the welding gun, the welding assembly is first moved on the track, at this time, the path planning assembly scans the workpiece to generate a welding path, then the sliding seat drives the welding mechanism to move to a starting welding point to start welding work, at this time, the visual monitoring assembly on both sides of the welding gun can rotate along with the rotation of the welding gun, and the visual monitoring assembly can monitor the whole welding process without dead angle, the visual monitoring assembly is installed on both sides of the welding gun and is close to the welding point, the welding picture obtained is clearer, and an operator can observe the weld shape according to the welding picture obtained, adjust welding parameters in real time, prevent welding voltage and current from being too large or too small to affect welding quality, further, the visual monitoring assembly can rotate along with the change of the welding angle, the visual monitoring assembly is not blocked by the workpiece to generate a visual dead angle, and the monitoring picture is more comprehensive. BRIEF DESCRIPTION OF DRAWINGS

[0020] 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:

[0021] Figure 1 Front view of the intelligent welding device according to an embodiment of the present application;

[0022] Figure 2 Top view of the intelligent welding device according to an embodiment of the present application;

[0023] Figure 3 Front view of the welding gun according to an embodiment of the present application;

[0024] Figure 4 Side view of the welding gun according to an embodiment of the present application;

[0025] Figure 5 Structure schematic view of the camera mounting plate according to an embodiment of the present application.

[0026] Explanation of reference signs:

[0027] 1, ground rail; 11, track; 2, sliding seat; 3, welding arm; 4, welding gun; 41, connecting plate; 42, rotating assembly; 5, path planning assembly; 6, visual monitoring assembly; 61, first industrial camera; 62, second industrial camera; 71, connecting column; 72, connecting chain; 73, connecting disc; 8, camera mounting plate; 81, first mounting plate; 82, second mounting plate; 9, driving mechanism DETAILED DESCRIPTION

[0028] 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.

[0029] In order to enable those skilled in the art to better understand the technical solutions of 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 in the embodiments of the present application. Obviously, the described embodiments are only 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 labor should belong to the protection scope of the present application.

[0030] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily 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 present application 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 "fixedly connected" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0031] In the prior art, in order to ensure the quality and consistency of the weld during welding, it is necessary to continuously detect the dynamic changes of the welding area, the melting position of the welding wire and the molten pool and timely adjust the welding parameters. The existing welding robot is equipped with a visual detection module. However, the industrial camera used for visual detection is generally arranged at the top front end of the welding gun. When the workpiece is not flat and there is an obstruction, the camera located at the top front end of the welding gun cannot obtain a complete monitoring picture.

[0032] The present application provides an intelligent welding device and an intelligent welding system to solve the above technical problems.

[0033] Figure 1 It is a front view of the intelligent welding device of an embodiment of the present application; Figure 2 It is a top view of the intelligent welding device of an embodiment of the present application; Figure 3 It is a front view of the welding gun of an embodiment of the present application; Figure 4 It is a side view of the welding gun of an embodiment of the present application; Figure 5 It is a structural schematic view of the camera mounting plate of an embodiment of the present application.

[0034] As Figures 1-2 shown, in order to realize that the welding device can autonomously plan the welding path in the welding composition, and obtain a clearer and more comprehensive welding picture in real time, and timely adjust the welding parameters, in one specific embodiment, the intelligent welding device comprises: a moving mechanism, a welding mechanism and a visual mechanism; wherein the moving mechanism comprises a ground rail 1, the ground rail 1 is provided with a track 11, the track 11 is slidably provided with a sliding seat 2, the sliding seat 2 is fixedly provided with the welding mechanism, the welding mechanism comprises a welding arm 3 and a welding gun 4; specifically, the sliding seat 2 can drive the welding mechanism to move on the track 11.

[0035] The visual mechanism includes a path planning component 5 and a visual monitoring component 6, the path planning component 5 is fixedly arranged at the front end of the welding gun 4, and the visual monitoring component 6 is rotatably arranged on both sides of the welding gun 4, wherein the installation angle of the visual monitoring component 6 on both sides of the welding gun is inclined to the welding gun, so that the monitoring picture is focused on the welding head, specifically, the path planning component 5 scans the workpiece to generate a welding path, and then the sliding seat 2 drives the welding mechanism to move to the starting welding point to start the welding operation, at this time, the visual monitoring component 6 on both sides of the track 11 can rotate with the rotation of the welding gun 4, and the whole welding process can be monitored without dead angle in 360°, the visual monitoring component 6 is installed on both sides of the welding gun, close to the welding point, and the welding picture obtained is clearer, and the operator can observe the weld shape according to the obtained welding picture, and adjust the welding parameters in real time to prevent the welding voltage and current from being too large or too small to affect the welding quality, and the path planning component 5 can determine the welding path by scanning the workpiece, and the visual monitoring component 6 can monitor the welding process in real time.

[0036] As shown in Figure 3 In order to more comprehensively obtain the welding picture, and also in order to make the welding gun bear force uniformly and maintain the stability of welding, in a specific embodiment, the visual monitoring component 6 includes a first industrial camera 61 and a second industrial camera 62, the first industrial camera 61 and the second industrial camera 62 are symmetrically arranged on both sides of the welding gun 4, wherein the first camera and the second camera are both inclined to the welding gun direction, to ensure that the monitoring picture is focused on the welding point, and further, in order to prolong the service life of the camera, the first camera and the second camera can be molten pool monitoring cameras.

[0037] In order to make the visual monitoring component 6 follow the rotation of the welding gun 4, so as to obtain a clear welding picture, in a specific embodiment, a connecting plate 41 and a rotating component 42 are arranged on the welding gun 4; one end of the connecting plate 41 is fixedly connected with the welding gun 4, and the other end of the connecting plate 41 is connected with the rotating component 42 through a connecting component 7; specifically, the connecting plate 41 and the rotating component 42 are connected on the welding gun from top to bottom in sequence, the rotating component 42 is connected with the visual monitoring component 6, and the rotating component 42 can drive the visual monitoring component 6 to rotate with the welding gun.

[0038] As shown in Figure 5 In order to fix the visual monitoring component 6, in a specific embodiment, a camera mounting plate 8 is fixedly arranged on the rotating component 42.

[0039] In order to keep the stability of the installation of the visual monitoring assembly 6, the camera mounting plate comprises a first mounting plate and a second mounting plate 82, the first mounting plate 81 and the second mounting plate 82 are symmetrically arranged on the two sides of the rotating assembly 42 respectively, and further, the first mounting plate 81 and the second mounting plate are respectively fixedly provided with the first industrial camera 61 and the second industrial camera 62, specifically, the first mounting plate 81 and the second mounting plate can be arranged at an angle towards the welding gun 4, so that the first industrial camera 61 and the second industrial camera 62 mounted thereon are also inclined towards the welding gun 4, thereby focusing the visual monitoring assembly 6 on the welding point.

[0040] The welding gun 4 will vibrate violently during the welding process, and the vibration will cause the rotating assembly 42 to be unstable, in order to keep the stability of the rotation of the visual monitoring assembly 6, in one embodiment, the connecting assembly comprises a connecting column 71 and a connecting chain 72; the upper end surface of the connecting column 71 is fixedly connected with the connecting plate 41, the lower end surface of the connecting column 71 is provided with a connecting disc 73, the connecting disc 73 is provided with a groove in the circumferential direction, one end of the connecting chain 72 is sleeved in the groove, the other end of the connecting chain 72 is sleeved on the rotating assembly 42, specifically, the connecting plate 41 is fixedly arranged on the welding gun, the rotation of the welding gun 4 drives the welding plate to rotate, the welding plate drives the rotating assembly 42 to rotate through the connecting chain 72, and the visual monitoring assembly 6 can realize more stable rotation under the double driving of the welding gun 4 and the connecting plate 41.

[0041] In order to keep the stability of the connection of the connecting chain 72, the rotating assembly 42 and the connecting disc 73 are arranged on the same horizontal plane.

[0042] In one embodiment, the moving mechanism is connected with a driving mechanism 9, and the driving mechanism 9 can drive the track 11 to move.

[0043] In another aspect, the utility model provides an intelligent welding system, the intelligent welding system comprises the intelligent welding device.

[0044] It should be noted that, for the foregoing method embodiments, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the utility model is not limited by the action sequence described, because according to the utility model, certain steps can adopt other order or simultaneously perform.Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily the utility model.

[0045] In the above embodiment, 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.

[0046] In several embodiments provided by the utility model, it should be understood that the disclosed device can be realized by other ways. For example, the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and another division mode can be used 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 interfaces, devices or units, and can be electrical or other forms.

[0047] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, 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.

[0048] In addition, the function units in each embodiment of the utility model can be integrated in a processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software function unit.

[0049] The above is only the preferred embodiment of the utility model, and is not used to limit the utility model. For those skilled in the art, the utility model can have various changes and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims

1. An intelligent welding device, characterized by, The intelligent welding device comprises a moving mechanism, a welding mechanism and a visual mechanism. The moving mechanism comprises a ground rail (1), wherein an orbit (11) is arranged on the ground rail (1), a sliding seat (2) is arranged on the orbit (11) in a sliding mode, and the welding mechanism is fixedly arranged on the sliding seat (2) and comprises a welding arm (3) and a welding gun (4). The visual mechanism comprises a path planning assembly (5) and a visual monitoring assembly (6), wherein the path planning assembly (5) is fixedly arranged at the front end of the welding gun (4), and the visual monitoring assembly (6) is rotatably arranged on both sides of the welding gun (4); the path planning assembly (5) can determine a welding path by scanning a workpiece, and the visual monitoring assembly (6) can monitor a welding process in real time.

2. The intelligent welding device of claim 1, wherein, The visual monitoring assembly (6) comprises a first industrial camera (61) and a second industrial camera (62), and the first industrial camera (61) and the second industrial camera (62) are symmetrically arranged on both sides of the welding gun (4).

3. The intelligent welding device of claim 2, wherein, The welding gun (4) is provided with a connecting plate (41) and a rotating assembly (42). One end of the connecting plate (41) is fixedly connected with the welding gun (4), and the other end of the connecting plate (41) is connected with the rotating assembly (42) through a connecting assembly (7).

4. The intelligent welding device of claim 3, wherein, The rotating assembly (42) is fixedly provided with a camera mounting plate (8).

5. The intelligent welding device of claim 4, wherein, The camera mounting plate (8) comprises a first mounting plate (81) and a second mounting plate (82), and the first mounting plate (81) and the second mounting plate (82) are symmetrically arranged on both sides of the rotating assembly (42), respectively.

6. The intelligent welding device of claim 5, wherein, The first mounting plate (81) and the second mounting plate (82) are fixedly provided with the first industrial camera (61) and the second industrial camera (62), respectively.

7. The intelligent welding device of claim 3, wherein, The connecting assembly comprises a connecting column (71) and a connecting chain (72). The upper end surface of the connecting column (71) is fixedly connected with the connecting plate (41), the lower end surface of the connecting column (71) is provided with a connecting disc (73), the connecting disc (73) is provided with a groove in the circumferential direction, one end of the connecting chain (72) is sleeved in the groove, and the other end of the connecting chain (72) is sleeved on the rotating assembly (42).

8. The intelligent welding device of claim 7, wherein, The rotating assembly (42) and the connecting disc (73) are arranged on the same horizontal plane.

9. The intelligent welding device of claim 1, wherein, The moving mechanism is connected with a driving mechanism (9), and the driving mechanism (9) can drive the orbit (11) to move.

10. An intelligent welding system characterized by, The intelligent welding system comprises any one of the intelligent welding devices according to claims 1-9.

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