Welding robot motion track planning device based on visual guidance

Abstract

The utility model relates to the technical field of industrial robots, in particular to a welding robot motion trail planning device based on visual guidance, which comprises a mechanical arm body, a welding head connected to an operation end part, a device frame connected to the operation end part and a controller connected to the device frame, a lens of the camera faces the welding end of the welding head, and the camera is connected with the device frame through a multi-angle adjusting assembly arranged on the device frame; and the controller is used for receiving the picture information uploaded by the camera and outputting a corresponding control instruction. According to the welding robot debugging device based on visual guidance, the camera for visual collection, the data processing module and the mechanical arm control module are integrated, trajectory data needed by operation of the mechanical arm body are automatically generated, intelligent debugging of a welding robot is achieved, the debugging efficiency and precision can be improved, and the debugging cost is reduced. And manual intervention is reduced.

Description

Technical Field

[0001] This utility model relates to a motion trajectory planning device, and more particularly to a motion trajectory planning device for a welding robot based on vision guidance, belonging to the field of industrial robot technology. Background Technology

[0002] Welding robotic arms have been widely used in modern industry, especially in automobile manufacturing, shipbuilding, electronic equipment production, and steel structure manufacturing. Compared with traditional manual welding methods, welding robotic arms offer higher production efficiency and welding quality. With the continuous advancement of global infrastructure construction and the increasing level of industrial automation, the market demand for welding robotic arms has surged. Therefore, precise calibration of welding robotic arms is an essential step.

[0003] Traditional welding robots typically rely on manual teaching during the debugging process. This involves manually controlling the robotic arm and analyzing data collected by the system and sensors. This process is cumbersome and susceptible to environmental interference. Manual adjustments also result in inconsistencies, leading to low debugging efficiency and insufficient accuracy. Furthermore, planning welding paths for complex workpieces is difficult, and manual debugging cannot meet the high precision and efficiency requirements of modern manufacturing. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a vision-guided motion trajectory planning device for welding robots with high debugging efficiency and accuracy.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] A vision-guided welding robot motion trajectory planning device includes a robotic arm body, the movable end of which is the working end, a welding head connected to the working end, and a device frame connected to the working end; a camera with its lens facing the welding end of the welding head, the camera being connected to the device frame via a multi-angle adjustment component mounted on the device frame; and a controller for receiving image information uploaded by the camera and outputting corresponding control commands.

[0007] Furthermore, the multi-angle adjustment assembly includes an annular track connected to the device frame and having a sliding groove, a movable base slidably connected to the annular track, and a multi-angle adjustment frame disposed on the movable base.

[0008] Furthermore, the movable base includes a movable compartment, a track wheel rotatably connected to the movable compartment and in close contact with the slide groove, and a drive motor connected to the track wheel and driving the track wheel to rotate. A limit plate is connected to the movable compartment, and the movable compartment and the limit plate together form a sliding slot that can accommodate the sliding track to pass through. The movable compartment slides on the circular track through the sliding slot.

[0009] Furthermore, the multi-angle adjustment frame includes a fixed plate connected to the mobile compartment, a rotating base 1 rotatably connected to the fixed plate, and a motor 1 disposed below the rotating base 1 and driving the rotating base 1 to rotate horizontally.

[0010] Furthermore, the multi-angle adjustment frame also includes a second rotating base connected to the first rotating base, a rotating rod arranged horizontally and rotatably connected to the second rotating base, and a second motor for driving the rotating rod to rotate, with the camera mounted on the rotating rod.

[0011] Furthermore, the controller includes a data processing module and a robotic arm control module.

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

[0013] 1. This application provides a vision-guided welding robot debugging device by integrating a camera, a data processing module, and a robotic arm control module. By integrating a vision acquisition camera, a data processing module, and a robotic arm control module, the device automatically generates the trajectory data that the robotic arm body needs to run, realizing intelligent debugging of the welding robot, which helps to improve debugging efficiency and accuracy and reduce manual intervention.

[0014] 2. By mounting the camera on the multi-angle adjustment component, when the camera's shooting angle needs to be adjusted, motor one can be started to rotate the camera horizontally, and motor two can be started to rotate the camera vertically. In conjunction with the circular track, the shooting angle of the camera is increased, enabling multi-angle shooting. This can meet the multi-angle image information required by the data processing module and increase the accuracy of the data processing module's analysis and processing. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the isometric three-dimensional structure provided by this utility model;

[0016] Figure 2 Provided for this utility model Figure 1 A schematic diagram of a local structure in the image;

[0017] Figure 3 A schematic diagram of the movable base structure provided by this utility model;

[0018] Figure 4This is a schematic diagram of the multi-angle adjustment frame structure provided by this utility model;

[0019] Figure 5 The system interface diagram for extracting weld point data provided by this utility model is shown.

[0020] In the diagram, 1. Robotic arm body; 2. Working end; 3. Welding head; 4. Device frame; 5. Camera; 6. Multi-angle adjustment component; 7. Controller; 8. Circular track; 9. Slide rail; 10. Moving base; 101. Moving compartment; 102. Track wheel; 103. Drive motor; 104. Limiting plate; 105. Sliding bay; 11. Multi-angle adjustment frame; 111. Fixing plate; 112. Rotating base one; 113. Motor one; 121. Rotating base two; 122. Rotating rod; 123. Motor two. Detailed Implementation

[0021] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1-5 As shown, the vision-guided welding robot motion trajectory planning device provided in this embodiment includes a robotic arm body 1, which is preferably a six-axis robotic arm commonly used in the art. This robotic arm has good angle adjustment capability, and its specific working principle will not be elaborated. The movable end of the robotic arm body 1 is the working end 2, and it also includes a welding head 3 connected to the working end 2, a device frame 4 connected to the working end 2, a camera 5 with its lens facing the welding end of the welding head 3, and a controller 7. Specifically, in order to ensure the diversity and functionality of image acquisition by the camera 5, the camera 5 is connected to the device frame 4 through a multi-angle adjustment component 6 set on the device frame 4. The controller 7 is an integrated system for the control and information processing of the device operation. The controller 7 is used to receive the image information uploaded by the camera 5 and output corresponding control commands.

[0023] In this device, camera 5 serves as an image acquisition unit, preferably a high-precision camera, capable of acquiring the position and orientation information of the workpiece and identifying weld seams in real time. The controller 7 includes a data processing module and a robotic arm control module. The data processing module is a commonly used module in the field, such as one that integrates intelligent algorithms to process visually acquired data, generate welding paths, and output corresponding control commands in real time. Welding parameters can be adjusted through these control commands. A robotic arm control module is provided that electrically connects the robotic arm to the control commands. When the robotic arm control module is running, it controls the robotic arm body 1 to complete debugging and welding operations according to the control commands from the data processing module.

[0024] Specifically, such as Figure 5As shown, camera 5 acquires images of the workpiece weld seam, obtaining its position and orientation information. This relevant image data is received by the data processing module, which performs analog-to-digital conversion within its own system to obtain visual image data and generate a welding path. The formed path is sent to the robotic arm control module in the form of an electrical signal. The robotic arm control module drives the rotation of each joint of the robotic arm body 1 according to the signal output by the data processing module, thereby adjusting the orientation and position of the welding head 3, completing the debugging and welding operation of the welding head 3, and ensuring welding accuracy.

[0025] The aforementioned camera 5, data processing module, and robotic arm control module provide a vision-guided welding robot debugging device. By integrating the vision acquisition camera 5, data processing module, and robotic arm control module, the device automatically generates the trajectory data that the robotic arm body 1 needs to run, realizing intelligent debugging of the welding robot. This helps to improve debugging efficiency and accuracy and reduce manual intervention.

[0026] Furthermore, such as Figure 4 As shown, in order to achieve multi-angle adjustment of the camera 5 lens, the multi-angle adjustment component 6 includes an annular track 8 connected to the device frame 4 and having a sliding groove 9, a movable base 10 slidably connected to the annular track 8, and a multi-angle adjustment frame 11 set on the movable base 10. By sliding the movable base 10 on the annular track 8, the camera 5 can move around the periphery of the welding head 3, and observe the weld seam of the welding workpiece of the welding head 3 without blind spots. The annular track 8 moves with the working end 2 where the welding head 3 is located, and can stop at a certain position to collect images. Therefore, the camera 5 can be used for both static and dynamic purposes.

[0027] like Figure 3 As shown, in order to enable the movable base 10 to slide stably on the annular track 8 and to provide good support for the camera 5, the movable base 10 includes a movable compartment 101, a track wheel 102 rotatably connected to the movable compartment 101 and in close contact with the slide groove 9, and a drive motor 103 connected to the track wheel 102 and driving the track wheel 102 to rotate. A limit plate 104 is connected to the movable compartment 101. The movable compartment 101 and the limit plate 104 together form a sliding slot 105 that can accommodate the sliding track. The movable compartment 101 slides on the annular track 8 through the sliding slot 105. The drive motor 103 drives the track wheel 102 to rotate, thereby driving the movable compartment 101 to move on the annular track 8. According to actual use needs, multiple track wheels 102 and drive motors 103 can be set for synchronous driving to meet the power needs of the movable compartment 101 when moving. The number of track wheels 102 and drive motors 103 is not limited.

[0028] like Figure 3As shown, the multi-angle adjustment frame 11 includes a fixed plate 111 connected to the movable compartment 101, a rotating base 112 rotatably connected to the fixed plate 111, and a motor 113 located below the rotating base 112 and driving the rotating base 112 to rotate horizontally. The multi-angle adjustment frame 11 also includes a rotating base 121 connected to the rotating base 112, a rotating rod 122 horizontally arranged and rotatably connected to the rotating base 121, and a motor 123 driving the rotating rod 122 to rotate. The camera 5 is mounted on the rotating rod 122. When it is necessary to adjust the shooting angle of the camera 5, the motor 113 can be started to drive the camera 5 to rotate horizontally, and the motor 123 can be started to drive the camera 5 to rotate vertically. In conjunction with the circular track 8, the shooting angle of the camera 5 can be increased to achieve multi-angle shooting.

[0029] The foregoing description illustrates and describes preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein. Any modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A visual guidance-based welding robot motion trajectory planning device, comprising a mechanical arm body (1), a work end (2) arranged at a movable end of the mechanical arm body (1), and a welding head (3) connected to the work end (2), characterized in that: Also include: The device frame (4) connected to the working end (2); The camera (5) towards the welding end of the welding head (3), which is connected to the device frame (4) through the multi-angle adjusting assembly (6) provided on the device frame (4); The controller (7) for receiving the picture information uploaded by the camera (5) and outputting the corresponding control instruction; The multi-angle adjusting assembly (6) includes a ring track (8) connected to the device frame (4) and provided with a sliding groove (9), a moving base (10) slidingly connected to the ring track (8), and a multi-angle adjusting frame (11) provided on the moving base (10).

2. The vision-guided welding robot motion trajectory planning apparatus according to claim 1, wherein: The moving base (10) includes a moving bin (101), a track wheel (102) rotatably connected to the moving bin (101) and in close contact with the sliding groove (9), and a drive motor (103) connected to the track wheel (102) and driving the track wheel (102) to rotate, The moving bin (101) is connected with a limiting plate (104), and the moving bin (101) and the limiting plate (104) jointly form a sliding socket (105) capable of accommodating the sliding track, and the moving bin (101) slides on the ring track (8) through the sliding socket (105).

3. The vision-guided welding robot motion trajectory planning apparatus according to claim 2, wherein: The multi-angle adjusting frame (11) includes a fixed plate (111) connected to the moving bin (101), a rotating base one (112) rotatably connected to the fixed plate (111), and a motor one (113) provided below the rotating base one (112) and driving the rotating base one (112) to rotate horizontally.

4. The vision-guided welding robot motion trajectory planning apparatus according to claim 3, wherein: The multi-angle adjusting frame (11) further includes a rotating base two (121) connected to the rotating base one (112), a rotating rod (122) transversely provided and rotatably connected to the rotating base two (121), and a motor two (123) driving the rotating rod (122) to rotate, The camera (5) is installed on the rotating rod (122).

5. The vision-guided welding robot motion trajectory planning apparatus according to claim 1, wherein: The controller (7) includes a data processing module and a mechanical arm control module.

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