Intelligent welding mechanical arm for special-shaped component

Abstract

The utility model relates to the technical field of automatic welding equipment, in particular to an intelligent welding mechanical arm for a special-shaped component, which comprises a slide rail, a mechanical arm, a collecting assembly, a welding gun, a welding wire and a wire feeding mechanism, the slide rail provides an installation condition for the mechanical arm, and the mechanical arm provides an installation condition for the collecting assembly. A welding wire sent out by a wire feeding mechanism is connected with a welding gun, parameters of welding equipment are adjusted and set, and a welding part is fixed in place. The device is electrified and initialized, the collecting assembly collects a welding seam image and gives a welding track and a welding speed parameter after processing the image, and under the control of the collecting assembly, the mechanical arm installed on the sliding rail drives the welding gun to reach a welding seam starting point, and then the welding gun is guided to complete welding seam welding according to the welding track and the welding speed. And after welding is completed, the device returns to the initial position, and therefore the problem that an existing special-shaped component welding mechanical arm is low in efficiency is solved.

Description

Technical Field

[0001] This utility model relates to the field of automated welding equipment technology, and in particular to an intelligent welding robotic arm for irregularly shaped components. Background Technology

[0002] The welding process for irregularly shaped components is complex. Traditional welding robotic arms have a single welding trajectory, and when changing different welding parts, the welding path needs to be replanned manually, which is time-consuming, labor-intensive, and inefficient. Even when welding the same type of welding parts, the welding quality is not high due to the individual differences between each welding part and the poor adaptability of the fixed welding program of traditional welding robotic arms.

[0003] Meanwhile, traditional welding robotic arms face challenges in welding large components due to limited working space. To address this, we propose an intelligent welding robotic arm device for irregularly shaped components. Utility Model Content

[0004] The purpose of this invention is to provide an intelligent welding robot arm for irregularly shaped components, which aims to solve the problem of low efficiency of existing welding robots for irregularly shaped components.

[0005] To achieve the above objectives, this utility model provides an intelligent welding robotic arm for irregularly shaped components, including a slide rail, a robotic arm, a data acquisition component, a welding torch, a welding wire, and a wire feeding mechanism;

[0006] The robotic arm is mounted on the slide rail, the acquisition component is mounted on the robotic arm, the welding torch is mounted on one side of the robotic arm, the wire feeding mechanism is mounted on one side of the slide rail, the welding wire is mounted on the wire feeding mechanism and connected to the welding torch.

[0007] The slide rail includes a slide rail base, a slide table, and a drive component. The slide table is slidably connected to the slide rail base, and the drive component is mounted on the slide rail base and connected to the slide table.

[0008] The robotic arm includes a robotic arm base, an upper arm, a lower arm, an end effector, and a wrist. The robotic arm base is fixedly connected to and located on the slide table. The upper arm is mounted on the robotic arm base. The lower arm is mounted on the side of the upper arm away from the robotic arm base. The wrist is mounted on the side of the lower arm away from the upper arm. The end effector is mounted on the side of the wrist away from the lower arm.

[0009] The acquisition components include a controller and an industrial camera. The controller is installed inside the base of the robotic arm, and the industrial camera is installed on the forearm.

[0010] The driving component includes a lead screw and a motor. The motor is fixedly connected to the slide rail base and located on one side of the slide rail base. The lead screw is fixedly connected to the output end of the motor and rotatably connected to the slide rail base. The lead screw is also threadedly connected to the slide table.

[0011] This invention discloses an intelligent welding robotic arm for irregularly shaped components. The slide rail provides the mounting conditions for the robotic arm, and the robotic arm provides the mounting conditions for the data acquisition component. Before use, the welding wire fed by the wire feeding mechanism is connected to the welding torch, the welding equipment parameters are adjusted and set, and the workpiece is positioned and fixed. The device is powered on and initialized. The data acquisition component acquires weld seam images and, after image processing, provides welding trajectory and welding speed parameters. Under the control of the data acquisition component, the robotic arm mounted on the slide rail drives the welding torch to the weld seam starting point, and then guides the welding torch to complete the weld seam welding according to the welding trajectory and welding speed. After welding is completed, the device returns to its initial position, thus solving the problem of low efficiency in existing robotic arms for welding irregularly shaped components. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0013] Figure 1 This is a structural schematic diagram of an intelligent welding robotic arm for irregularly shaped components according to this utility model.

[0014] Figure 2 This is a schematic diagram of a robotic arm.

[0015] Figure 3 This is a schematic diagram of the slide rail.

[0016] In the diagram: 1-slide rail, 2-controller, 3-robotic arm, 4-welding gun, 5-industrial camera, 6-welding wire, 7-wire feeding mechanism, 8-slide rail base, 9-slide table, 10-lead screw, 11-motor, 12-robotic arm base, 13-upper arm, 14-lower arm, 15-end clamp, 16-wrist. Detailed Implementation

[0017] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0018] Please see Figures 1-3This utility model provides an intelligent welding robotic arm for irregularly shaped components, including a slide rail 1, a robotic arm 3, a data acquisition component, a welding torch 4, a welding wire 6, and a wire feeding mechanism 7.

[0019] The robotic arm 3 is mounted on the slide rail 1, the acquisition component is mounted on the robotic arm 3, the welding torch 4 is mounted on one side of the robotic arm 3, the wire feeding mechanism 7 is mounted on one side of the slide rail 1, and the welding wire 6 is mounted on the wire feeding mechanism 7 and connected to the welding torch 4.

[0020] In this embodiment, the slide rail 1 provides the mounting conditions for the robotic arm 3, and the robotic arm 3 provides the mounting conditions for the acquisition component. Before use, the welding wire 6 fed by the wire feeding mechanism 7 is connected to the welding torch 4, the welding equipment parameters are adjusted and set, and the workpiece is positioned and fixed. The device is powered on and initialized. The acquisition component acquires weld seam images and, after image processing, provides welding trajectory and welding speed parameters. Under the control of the acquisition component, the robotic arm 3 mounted on the slide rail 1 drives the welding torch 4 to the weld seam starting point, and then guides the welding torch 4 to complete the weld seam welding according to the welding trajectory and welding speed. After welding is completed, the device returns to its initial position, thus solving the problem of low efficiency of existing robotic arms for welding irregularly shaped components.

[0021] Furthermore, the slide rail 1 includes a slide rail base 8, a slide table 9, and a driving component. The slide table 9 is slidably connected to the slide rail base 8, and the driving component is mounted on the slide rail base 8 and connected to the slide table 9.

[0022] In this embodiment, the slide rail base 8 provides installation conditions for the slide table 9 and the driving component. Under the drive of the driving component, the slide table 9 can achieve reciprocating linear motion on the slide rail base 8, which increases the working space of the robotic arm 3 installed on the slide table 9, allowing the welding torch 4 installed at the end of the robotic arm 3 to have a larger welding range. At the same time, the slide table 9 and the slide rail base 8 form a sliding pair, providing support for the slide table 9 without affecting its movement. Therefore, the adaptability and load-bearing capacity of this utility model are improved.

[0023] Furthermore, the robotic arm 3 includes a robotic arm base 12, a large arm 13, a small arm 14, an end effector 15, and a wrist 16. The robotic arm base 12 is fixedly connected to the slide table 9 and is located on the slide table 9. The large arm 13 is mounted on the robotic arm base 12. The small arm 14 is mounted on the side of the large arm 13 away from the robotic arm base 12. The wrist 16 is mounted on the side of the small arm 14 away from the large arm 13. The end effector 15 is mounted on the side of the wrist 16 away from the small arm 14.

[0024] In this embodiment, the large arm 13 is connected to the robotic arm base 12 via a revolute joint, the forearm 14 is connected to the large arm 13 via a revolute joint, the wrist 16 is connected to the forearm 14 via a revolute joint, and the end effector 15 is connected to the wrist 16 via a revolute joint. The controller 2 inside the robotic arm base 12, and the cable connected to the industrial camera 5 inside the robotic arm 3, are less susceptible to interference from the external environment, thus improving the environmental adaptability of this invention. The industrial camera 5 mounted on the forearm 14 moves with the forearm 14, expanding the image acquisition angle and field of view of the industrial camera 5. Simultaneously, by maintaining a certain distance from the welding torch 4, the industrial camera 5 is effectively protected from damage by spatter during the welding process.

[0025] Furthermore, the acquisition component includes a controller 2 and an industrial camera 5. The controller 2 is installed inside the robotic arm base 12, and the industrial camera 5 is installed on the forearm 14.

[0026] In this embodiment, the industrial camera 5 acquires weld seam images, and the controller 2 processes the images using algorithms to obtain the welding trajectory and welding speed. This enables the welding torch 4 to weld various types and specifications of weld seams, thereby expanding the applicability of this invention and improving welding quality and efficiency. The controller model is JETSON NANO 4GB; the industrial camera model is Daheng Image MER2-160-75GM / C.

[0027] Furthermore, the driving component includes a lead screw 10 and a motor 11. The motor 11 is fixedly connected to the slide rail base 8 and located on one side of the slide rail base 8. The lead screw 10 is fixedly connected to the output end of the motor 11 and rotatably connected to the slide rail base 8. The lead screw 10 is threadedly connected to the slide table 9.

[0028] In this embodiment, the operation of the motor 11 can drive the lead screw 10 to rotate forward or in reverse, and the rotation of the lead screw 10 can drive the slide table 9 to move back and forth on the lead screw 10.

[0029] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A robotic arm for intelligent welding of irregularly shaped components, characterized in that, Includes slide rails, robotic arms, data acquisition components, welding torches, welding wire, and wire feeding mechanisms; The robotic arm is mounted on the slide rail, the acquisition component is mounted on the robotic arm, the welding torch is mounted on one side of the robotic arm, the wire feeding mechanism is mounted on one side of the slide rail, the welding wire is mounted on the wire feeding mechanism and connected to the welding torch.

2. The intelligent welding robotic arm for irregularly shaped components as described in claim 1, characterized in that, The slide rail includes a slide rail base, a slide table, and a drive component. The slide table is slidably connected to the slide rail base, and the drive component is mounted on the slide rail base and connected to the slide table.

3. The intelligent welding robotic arm for irregularly shaped components as described in claim 2, characterized in that, The robotic arm includes a robotic arm base, an upper arm, a lower arm, an end effector, and a wrist. The robotic arm base is fixedly connected to and located on the slide table. The upper arm is mounted on the robotic arm base. The lower arm is mounted on the side of the upper arm away from the robotic arm base. The wrist is mounted on the side of the lower arm away from the upper arm. The end effector is mounted on the side of the wrist away from the lower arm.

4. The intelligent welding robotic arm for irregularly shaped components as described in claim 3, characterized in that, The acquisition components include a controller and an industrial camera. The controller is installed inside the base of the robotic arm, and the industrial camera is installed on the forearm.

5. The intelligent welding robotic arm for irregularly shaped components as described in claim 2, characterized in that, The driving component includes a lead screw and a motor. The motor is fixedly connected to the slide rail base and located on one side of the slide rail base. The lead screw is fixedly connected to the output end of the motor and rotatably connected to the slide rail base. The lead screw is also threadedly connected to the slide table.

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