Intelligent welding robot based on machine vision

Abstract

The utility model belongs to the field of intelligent welding robots, and particularly relates to an intelligent welding robot based on machine vision, which comprises a welding frame, a transverse rail is fixedly mounted at the upper end of the welding frame, a welder is arranged on the outer side of the transverse rail, and a plurality of pairs of uniformly distributed mounting frames are mounted at the lower end of the welding frame. A screw rod is jointly mounted in each pair of mounting frames through a bearing, a threaded frame is connected to the outer side of each screw rod through a thread, a connecting frame is fixedly connected to the lower end of each threaded frame, and a camera is hinged to the outer side of each connecting frame. The welding frame is additionally provided with the screw rod, the threaded frame, the bevel gear set and other structures, the camera can be driven to move through threaded fit between the screw rod and the threaded frame in the workpiece welding process, and therefore an image collecting area can be adjusted through movement of the camera; the accuracy of image acquisition can be effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent welding robot technical field, concretely is a kind of intelligent welding robot based on machine vision. BACKGROUND

[0002] At present, in order to improve the welding precision of welding robot, image acquisition can be carried out on the welding area by machine vision, and according to the patent application publication number: CN108274171A, an intelligent welding robot based on machine vision is disclosed, which comprises a material holding frame, a rotating table, a lifting column, a spot welding machine, the top end of the lifting column is provided with a longitudinal guide rail, the upper side of the longitudinal guide rail is provided with a transverse guide rail, the two ends of the transverse guide rail are provided with longitudinal motors, the transverse guide rail is provided with a transverse motor, the lower side of the transverse motor is provided with a welding device, the welding device comprises a mechanical arm, the top end of the mechanical arm is provided with a mounting arm, and the bottom of the mounting arm is provided with a positioner.

[0003] However, the camera for image acquisition in the prior art welding robot is fixedly installed above the welding frame, which causes the mechanical arm to easily shield the welding area during the welding process, resulting in inaccurate image acquisition and affecting the judgment of welding. Therefore, the prior art needs to be improved. UTILITY MODEL CONTENT

[0004] The utility model aims at providing an intelligent welding robot based on machine vision, which solves the problem that the mechanical arm of the welding robot easily shields the welding area during the working process.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: an intelligent welding robot based on machine vision, comprising a welding frame, a transverse rail is fixedly installed at the upper end of the welding frame, a welder is arranged outside the transverse rail, a plurality of pairs of mounting racks are evenly distributed and installed at the lower end of the welding frame, a screw rod is installed inside each pair of mounting racks through bearings, a threaded rack is connected to the outside of the screw rod through threads, a connecting rack is fixedly connected to the lower end of the threaded rack, a camera is hingedly connected to the outside of the connecting rack, an angle positioning mechanism is arranged on the camera, a bevel gear two is fixedly connected to the outside of the screw rod, a rack is fixedly connected to the outside of the welding frame, a motor is installed at the lower end of the rack, and a bevel gear one is installed inside the rack through bearings.

[0006] Preferably, the threaded rack is slidably connected to the welding frame, the output shaft of the motor is fixedly connected to the bevel gear one, and the bevel gear one is engaged with the bevel gear two. The motor can drive the bevel gear one to rotate.

[0007] Preferably, a guide rod is fixedly connected between the two mounting brackets, and the guide rod is slidably connected to the threaded bracket, so that the guide rod can guide the movement of the threaded bracket.

[0008] Preferably, a robotic arm is mounted on the lower end of the welder, and a welding gun is mounted on the lower end of the robotic arm. The robotic arm can control the welding gun.

[0009] Preferably, the angle positioning mechanism includes a fixed cover, the upper end of the camera is fixedly connected to the fixed cover, a connecting pin is slidably connected inside the fixed cover, one end of the connecting pin is fixedly connected to a snap-fit ​​bracket, and a spring is provided on the outside of the connecting pin, so that the connecting pin can guide the movement of the snap-fit ​​bracket.

[0010] Preferably, the snap-fit ​​bracket engages with the groove of the connecting bracket, and the snap-fit ​​bracket is slidably connected to the fixing cover. The snap-fit ​​bracket can limit the usage angle of the connecting bracket.

[0011] Preferably, one end of the spring is fixedly connected to the snap-fit ​​bracket, and the other end of the spring is fixedly connected to the fixing cover. The spring can automatically reset the snap-fit ​​bracket through its elastic force.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. This utility model adds a screw, a threaded bracket, and a bevel gear set to the welding frame. During the welding process, the screw and the threaded bracket can drive the camera to move, thereby adjusting the image acquisition area by moving the camera, which can effectively improve the accuracy of image acquisition.

[0014] 2. This utility model adds a fixing cover, a snap-fit ​​bracket, and a connecting nail to the camera. During use, the snap-fit ​​bracket can be snapped into the groove of the connecting bracket by the elastic force of the spring, which can limit the poor image acquisition of the camera and thus further improve the accuracy of the camera's image acquisition. Attached Figure Description

[0015] Figure 1 This is a perspective view of the overall structure of this utility model;

[0016] Figure 2 For the present utility model Figure 1 A magnified 3D view of the local structure;

[0017] Figure 3 For the present utility model Figure 1 A three-dimensional magnified view of the threaded frame;

[0018] Figure 4 For the present utility model Figure 2Enlarged view of the A-section structure;

[0019] Figure 5 For the present utility model Figure 4 A 3D magnified view of the card holder.

[0020] In the diagram: 1. Welding frame; 2. Horizontal track; 3. Welder; 4. Robotic arm; 5. Welding gun; 6. Mounting bracket; 7. Screw; 8. Threaded bracket; 9. Angle positioning mechanism; 11. Connecting bracket; 12. Camera; 13. Guide rod; 14. Frame; 15. Motor; 16. Bevel gear one; 17. Bevel gear two; 91. Fixing cover; 92. Connecting pin; 93. Clip bracket; 94. Spring. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1 , Figure 2 , Figure 3 A machine vision-based intelligent welding robot includes a welding frame 1. A transverse track 2 is fixedly installed on the upper end of the welding frame 1. A welder 3 is arranged on the outer side of the transverse track 2. Multiple pairs of evenly distributed mounting frames 6 are installed on the lower end of the welding frame 1. A screw 7 is installed inside each pair of mounting frames 6 through a bearing. A threaded frame 8 is threadedly connected to the outer side of the screw 7. A connecting frame 11 is fixedly connected to the lower end of the threaded frame 8. A camera 12 is hinged to the outer side of the connecting frame 11. An angle positioning mechanism 9 is arranged on the camera 12. A bevel gear 17 is fixedly connected to the outer side of the screw 7. A frame 14 is fixedly connected to the outer side of the welding frame 1. A motor 15 is installed at the lower end of the frame 14. A bevel gear 16 is installed inside the frame 14 through a bearing.

[0023] Please see Figure 1 , Figure 2 , Figure 3 The threaded frame 8 is slidably connected to the welding frame 1. The output shaft of the motor 15 is fixedly connected to the bevel gear 16. The bevel gear 16 meshes with the bevel gear 17. The motor 15 can drive the bevel gear 16 to rotate. A guide rod 13 is fixedly connected between the two mounting frames 6. The guide rod 13 is slidably connected to the threaded frame 8. The guide rod 13 can guide the movement of the threaded frame 8. A robotic arm 4 is installed at the lower end of the welder 3. A welding gun 5 is installed at the lower end of the robotic arm 4. The robotic arm 4 can control the welding gun 5.

[0024] Please see Figure 2 , Figure 4 , Figure 5 The angle positioning mechanism 9 includes a fixed cover 91. The fixed cover 91 is fixedly connected to the upper end of the camera 12. A connecting pin 92 is slidably connected inside the fixed cover 91. A snap-fit ​​bracket 93 is fixedly connected to one end of the connecting pin 92. A spring 94 is provided on the outside of the connecting pin 92. The connecting pin 92 can guide the movement of the snap-fit ​​bracket 93. The snap-fit ​​bracket 93 snaps into the groove of the connecting frame 11. The snap-fit ​​bracket 93 is slidably connected to the fixed cover 91. The snap-fit ​​bracket 93 can limit the use angle of the connecting frame 11. One end of the spring 94 is fixedly connected to the snap-fit ​​bracket 93. The other end of the spring 94 is fixedly connected to the fixed cover 91. The spring 94 can automatically reset the snap-fit ​​bracket 93 through its elastic force.

[0025] The specific implementation process of this utility model is as follows: When in use, pull the connecting pin 92, the connecting pin 92 drives the snap-fit ​​bracket 93 to move, and compresses the spring 94. When the snap-fit ​​bracket 93 disengages from the connecting frame 11, the angle limit of the camera 12 can be released. Then, the camera 12 is deflected to adjust the image acquisition area. After the adjustment is completed, the connecting pin 92 is released, the spring 94 returns to its original position, and the spring 94 can use its elasticity to drive the snap-fit ​​bracket 93 to snap onto the outside of the connecting frame 11, thus completing the angle limit of the camera 12.

[0026] During the welding process, motor 15 is started, which drives bevel gear 16 to rotate. Bevel gear 16 drives screw 7 to rotate through meshing with bevel gear 17. During the rotation of screw 7, screw 7 can drive screw frame 8 to move through the threaded engagement with screw frame 8. During the movement of screw frame 8, camera 12 can move. During the movement of camera 12, the acquisition area can be adjusted to avoid the robotic arm 4 from obstructing image acquisition.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based intelligent welding robot, comprising a welding frame (1), characterized in that: The upper end of the welding frame (1) is fixedly installed with a transverse rail (2), and a welder (3) is provided on the outside of the transverse rail (2). The lower end of the welding frame (1) is installed with multiple pairs of evenly distributed mounting brackets (6). Each pair of mounting brackets (6) is installed with a screw (7) through a bearing. The outside of the screw (7) is connected to a threaded bracket (8). The lower end of the threaded bracket (8) is fixedly connected to a connecting bracket (11). The outside of the connecting bracket (11) is hinged to a camera (12). An angle positioning mechanism (9) is provided on the camera (12). The outside of the screw (7) is fixedly connected to a bevel gear (17). The outside of the welding frame (1) is fixedly connected to a frame (14). The lower end of the frame (14) is installed with a motor (15). The inside of the frame (14) is installed with a bevel gear (16) through a bearing.

2. The intelligent welding robot based on machine vision according to claim 1, characterized in that: The threaded frame (8) is slidably connected to the welding frame (1), the output shaft of the motor (15) is fixedly connected to the first bevel gear (16), and the first bevel gear (16) meshes with the second bevel gear (17).

3. The intelligent welding robot based on machine vision according to claim 1, characterized in that: A guide rod (13) is fixedly connected between the two mounting brackets (6), and the guide rod (13) is slidably connected to the threaded bracket (8).

4. The intelligent welding robot based on machine vision according to claim 1, characterized in that: The lower end of the welder (3) is equipped with a robotic arm (4), and the lower end of the robotic arm (4) is equipped with a welding gun (5).

5. The intelligent welding robot based on machine vision according to claim 1, characterized in that: The angle positioning mechanism (9) includes a fixed cover (91), the upper end of the camera (12) is fixedly connected to the fixed cover (91), the inside of the fixed cover (91) is slidably connected to a connecting pin (92), one end of the connecting pin (92) is fixedly connected to a snap-fit ​​bracket (93), and a spring (94) is provided on the outside of the connecting pin (92).

6. The intelligent welding robot based on machine vision according to claim 5, characterized in that: The snap-fit ​​bracket (93) engages with the groove of the connecting bracket (11), and the snap-fit ​​bracket (93) is slidably connected to the fixing cover (91).

7. The intelligent welding robot based on machine vision according to claim 5, characterized in that: One end of the spring (94) is fixedly connected to the snap-fit ​​bracket (93), and the other end of the spring (94) is fixedly connected to the fixing cover (91).

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