Weld joint recognition device of welding robot

Abstract

The utility model discloses a welding robot weld joint identification device, including robot, swing arm and mounting rack, the both ends of mounting rack inner side upper part are provided with the card slot, the card slot interiors are clamped with the card board, the front side and back side end of mounting rack top are provided with the cross fixed slot, the cross fixed slot interiors are clamped with the cross fixed block, the cross fixed block interiors are clamped with the cross fixed block, the cross fixed block interiors are clamped with the cross fixed block, and the cross fixed block interiors are clamped with the cross fixed block. A mounting seat is arranged at the top of the mounting frame, clamping plates are fixed to the centers of the two sides of the mounting seat, cross-shaped fixing blocks are mounted on the front face and the back face of the mounting seat, and a laser welding seam tracker is fixed to the center of the bottom of the mounting seat. According to the laser welding seam tracking device, the mounting frame, the clamping grooves, the clamping plates, the cross-shaped fixing blocks, the cross-shaped fixing grooves, the mounting base, the laser welding seam tracking device and other components are arranged and used in cooperation, so that the laser welding seam tracking device can be conveniently and rapidly mounted and dismounted, and the laser welding seam tracking device can be conveniently replaced; meanwhile, through the cooperation of the structures, the installation stability of the laser welding seam tracker is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of weld seam recognition devices, specifically a weld seam recognition device for welding robots. Background Technology

[0002] Welding robot weld seam recognition devices are core components of automated welding systems, primarily used for automatically detecting, locating, and tracking weld seam positions to ensure welding accuracy and quality.

[0003] However, when existing weld seam recognition devices are connected and fixed to welding robots, the common connection method is screw fixing. This connection method is not convenient for quickly disassembling, replacing or repairing the weld seam recognition device, thus reducing the efficiency of disassembly, replacement or repair.

[0004] Furthermore, after installation, common weld seam recognition devices are prone to slight vibrations when welding robots are working, which can affect the accuracy of weld seam recognition. Utility Model Content

[0005] The purpose of this utility model is to provide a weld seam recognition device for welding robots. This utility model uses components such as a mounting frame, a slot, a plate, a cross-shaped fixing block, a cross-shaped fixing groove, a mounting base, and a laser weld seam tracker to facilitate the quick installation and removal of the laser weld seam tracker for easy replacement. At the same time, the above-mentioned structural combination improves the stability of the laser weld seam tracker installation, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A welding robot weld seam recognition device includes a robot, a swing arm, and a mounting frame.

[0008] The mounting bracket has slots at both ends on the upper inner side, and a card plate is engaged inside the slots. The front and back ends of the top of the mounting bracket have cross-shaped fixing slots, and a cross-shaped fixing block is engaged inside the cross-shaped fixing slots. The top of the mounting bracket is provided with a mounting base, and a card plate is fixed at the center of both sides of the mounting base. A cross-shaped fixing block is installed on the front and back of the mounting base. A laser weld seam tracker is fixed at the center of the bottom of the mounting base.

[0009] The cooperation of the slot, plate, cross-shaped fixing block and cross-shaped fixing groove enables the quick disassembly, removal and replacement of the laser weld seam tracker;

[0010] Several sets of buffers are installed on both sides of the inside of the mounting frame to reduce vibration of the laser weld seam tracker.

[0011] Preferably, one end of the robot is connected to a swing arm via a rotating shaft, and a laser welding head is installed at the bottom of the swing arm. The robot, the swing arm, and the laser welding head work together to achieve welding of the workpiece.

[0012] Preferably, the buffer includes a rubber support, a connecting column, and a connecting groove. Several sets of connecting grooves are opened at the center ends of both sides inside the mounting frame. The connecting column is snapped into the inside of the connecting groove. One end of the connecting column is fixedly connected to the rubber support. The surface of the rubber support abuts against the laser weld seam tracker.

[0013] Preferably, a connecting seat is fixed on one side of the vertical end of the swing arm, and column grooves are opened at both ends of one side of the connecting seat.

[0014] Preferably, the column groove is fitted with a fixing column for securing the mounting bracket, and the column groove and the fixing column are compatible.

[0015] Preferably, the top two ends of the mounting base are fixed with grooved rings for hooking by hand.

[0016] Preferably, a positioning slide for positioning the laser weld seam tracker is fixed at the center of the front and back sides of the inner side of the mounting bracket, and the inner side of the positioning slide is slidably connected to the front and back sides of the laser weld seam tracker.

[0017] Preferably, the mounting frame has support plates fixed on both sides of its inner bottom, and a baffle is provided at the bottom of the mounting frame near the laser welding head. Mounting blocks are fixed at both ends of the top of the baffle. The mounting blocks are snapped into corresponding mounting slots provided on the bottom of the mounting frame, and the mounting slots and mounting blocks are compatible.

[0018] Compared with the prior art, the beneficial effects of this utility model are:

[0019] This utility model uses a combination of components such as a mounting bracket, slot, plate, cross-shaped fixing block, cross-shaped fixing groove, mounting base, and laser weld seam tracker to facilitate the quick installation and removal of the laser weld seam tracker for easy replacement. Furthermore, this structural combination improves the stability of the laser weld seam tracker installation.

[0020] This utility model uses components such as rubber supports, connecting columns, and connecting grooves to reduce vibrations to the laser weld seam tracker during welding robot operation, thereby improving the stability of the laser weld seam tracker during operation; it also facilitates the disassembly and replacement of the rubber supports. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2This is a schematic diagram of the separation structure between the robot and the mounting frame of this utility model;

[0023] Figure 3 for Figure 2 Left-view structural diagram;

[0024] Figure 4 This is a schematic diagram of the installation frame, laser weld seam tracker, and baffle separation structure of this utility model;

[0025] Figure 5 for Figure 4 A schematic diagram of the structure viewed from below;

[0026] Figure 6 This is a schematic diagram of the separation structure of the mounting bracket and rubber support of this utility model.

[0027] In the diagram: 1. Robot; 101. Swing arm; 102. Laser welding head; 2. Connecting seat; 201. Fixing column; 3. Mounting bracket; 4. Slot; 401. Plate; 5. Cross-shaped fixing block; 501. Cross-shaped fixing groove; 6. Mounting seat; 7. Laser weld seam tracker; 8. Rubber support; 801. Connecting column; 802. Connecting groove; 9. Baffle; 901. Mounting block; 902. Mounting groove; 10. Support plate; 11. Positioning slide. Detailed Implementation

[0028] 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.

[0029] Please see Figures 1-6 This utility model provides a technical solution:

[0030] A welding robot weld seam recognition device includes a robot 1, a swing arm 101, and a mounting frame 3.

[0031] The mounting bracket 3 has slots 4 at both ends on the upper inner side, and a card plate 401 is engaged inside the slot 4. The front and back ends of the top of the mounting bracket 3 have cross-shaped fixing slots 501, and a cross-shaped fixing block 5 is engaged inside the cross-shaped fixing slots 501. The top of the mounting bracket 3 is provided with a mounting seat 6, and card plates 401 are fixed at the center of both sides of the mounting seat 6. Cross-shaped fixing blocks 5 are installed on the front and back of the mounting seat 6. A laser weld seam tracker 7 is fixed at the center of the bottom of the mounting seat 6.

[0032] The model of the laser weld seam tracker 7 is ICK LSP30. The laser weld seam tracker 7 projects a fan-shaped laser stripe onto the weld seam using a semiconductor laser (wavelength 808 / 450nm). A high-speed CMOS industrial camera (500fps@2048×1536 resolution) captures the deformed light stripe in real time. Image processing algorithms (including Gaussian filtering, Sobel edge detection, and RANSAC linear fitting) extract the weld seam centerline. Combined with a hand-eye calibration matrix (Tsai method accuracy ±0.05mm), the two-dimensional pixel coordinates are converted into three-dimensional deviations in the robot's 1-base coordinate system. Finally, a position compensation signal is output via the EtherCAT bus (cycle time 250μs) to guide the laser welding head 102 to dynamically adjust (response time <5ms), achieving a tracking accuracy of ±0.03mm. Simultaneously, a PID control algorithm (Kp=0.8 / Ki=0.05 / Kd=0.1) adaptively adjusts welding parameters to ensure weld penetration stability (error ±0.1mm).

[0033] The cooperation of the slot 4, the plate 401, the cross-shaped fixing block 5 and the cross-shaped fixing groove 501 enables the quick disassembly, removal and replacement of the laser weld seam tracker 7; the top two ends of the mounting base 6 are fixed with groove rings for hand hooking.

[0034] This utility model uses components such as mounting bracket 3, slot 4, plate 401, cross-shaped fixing block 5, cross-shaped fixing groove 501, mounting base 6, and laser weld seam tracker 7 to facilitate the quick installation and removal of the laser weld seam tracker 7 for easy replacement; at the same time, the above structural combination improves the stability of the installation of the laser weld seam tracker 7.

[0035] Furthermore, by grasping the groove ring on the mounting base 6 with one's hand, the mounting base 6 is moved upwards, so that the retaining plates 401 and cross-shaped fixing blocks 5 on the sides, front, and back of the mounting base 6 are respectively removed from the corresponding retaining grooves 4 and cross-shaped fixing grooves 501 on the mounting frame 3. This allows the laser weld seam tracker 7 installed on the bottom of the mounting base 6 to be quickly removed from the mounting frame 3 for replacement or repair. Conversely, the laser weld seam tracker 7 can be installed by operating in the opposite direction.

[0036] Several sets of buffer components are installed on both sides of the interior of the mounting frame 3 to reduce the vibration of the laser weld seam tracker 7. The buffer components include rubber pillars 8, connecting pillars 801, and connecting grooves 802. Several sets of connecting grooves 802 are opened at the center end of both sides of the interior of the mounting frame 3. The connecting pillars 801 are snapped into the interior of the connecting grooves 802. One end of the connecting pillar 801 is fixedly connected to the rubber pillar 8, and the surface of the rubber pillar 8 abuts against the laser weld seam tracker 7.

[0037] This utility model uses components such as rubber support column 8, connecting column 801 and connecting groove 802 to reduce the vibration of the laser weld seam tracker 7 when the welding robot 1 is working, so as to improve the stability of the laser weld seam tracker 7 during operation; and also makes it easy to disassemble and replace the rubber support column 8.

[0038] Furthermore, by taking the rubber support 8 outward by hand, the connecting post 801 at one end can be pulled out from the corresponding connecting grooves 802 on both sides inside the mounting bracket 3, thus facilitating the disassembly and replacement of the rubber support 8. Conversely, by operating in the opposite direction, the rubber support 8 can be fixed in the connecting groove 802 by the connecting post 801.

[0039] One end of the robot 1 is connected to a swing arm 101 via a rotating shaft. A laser welding head 102 is installed at the bottom of the swing arm 101. The robot 1, the swing arm 101 and the laser welding head 102 work together to achieve welding of the workpiece.

[0040] Robot 1 drives the swing arm 101 to perform multi-degree-of-freedom motion through the rotating shaft. The laser welding head 102 at the end of the swing arm 101 maintains the best welding posture under the precise control of Robot 1 (repeat positioning accuracy ±0.05mm). The three work together to achieve this.

[0041] A connecting seat 2 is fixed to one side of the vertical end of the swing arm 101, and column grooves are opened at both ends of one side of the connecting seat 2. The column grooves are fitted with fixing columns 201 for mounting bracket 3 to be fixed, and the column grooves and fixing columns 201 are compatible.

[0042] By using your hand to pick up the mounting bracket 3 and move it outward, the fixing post 201 set on one side of the mounting bracket 3 can be moved out of the corresponding post groove set on the connecting seat 2, thereby facilitating the disassembly and separation of the mounting bracket 3. Conversely, it can be installed.

[0043] Positioning slides 11 for positioning the laser weld seam tracker 7 are fixed at the center of the front and back sides of the inner side of the mounting bracket 3. The inner side of the positioning slides 11 is slidably connected to the front and back sides of the laser weld seam tracker 7.

[0044] When the laser weld seam tracker 7 is placed inside the mounting bracket 3, its front and back sides pass through the positioning slide 11 set in the mounting bracket 3, so that it is positioned and abuts against the support plate 10.

[0045] Support plates 10 are fixed on both sides of the inner bottom of the mounting bracket 3, and a baffle 9 is provided at the bottom of the mounting bracket 3 near the laser welding head 102. Mounting blocks 901 are fixed at both ends of the top of the baffle 9. The mounting blocks 901 are snapped into the corresponding mounting grooves 902 provided on the bottom of the mounting bracket 3, and the mounting grooves 902 and the mounting blocks 901 are compatible.

[0046] By taking the baffle 9 by hand, the mounting block 901 on its top is inserted into the mounting groove 902, so that the baffle 9 is locked in place. This allows the baffle 9 to shield and protect the laser weld seam tracker 7 without affecting the use of the laser welding head 102 and the laser weld seam tracker 7.

[0047] 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 weld seam recognition device for a welding robot, characterized in that: Includes a robot (1), a swing arm (101), and a mounting bracket (3). The mounting bracket (3) has slots (4) at both ends on the upper inner side. The slots (4) are fitted with plates (401). The mounting bracket (3) has cross-shaped fixing slots (501) at the front and back ends. The cross-shaped fixing slots (501) are fitted with cross-shaped fixing blocks (5). The mounting bracket (3) has a mounting seat (6) at the top. The mounting seat (6) has plates (401) fixed at the center of both sides. The mounting seat (6) has cross-shaped fixing blocks (5) installed on the front and back. The mounting seat (6) has a laser weld seam tracker (7) fixed at the center of the bottom. The cooperation of the slot (4), the plate (401), the cross-shaped fixing block (5) and the cross-shaped fixing slot (501) enables the quick disassembly, removal and replacement of the laser weld seam tracker (7); The mounting bracket (3) has several sets of buffers installed on its inner sides to reduce the vibration of the laser weld tracker (7).

2. The welding robot weld seam recognition device according to claim 1, characterized in that: One end of the robot (1) is connected to a swing arm (101) via a rotating shaft. A laser welding head (102) is installed at the bottom of the swing arm (101). The cooperation of the robot (1), the swing arm (101) and the laser welding head (102) enables the welding of the workpiece.

3. The welding robot weld seam recognition device according to claim 1, characterized in that: The buffer includes a rubber support (8), a connecting column (801) and a connecting groove (802). Several sets of connecting grooves (802) are opened at the center ends of both sides of the mounting frame (3). The connecting column (801) is snapped into the inside of the connecting groove (802). One end of the connecting column (801) is fixedly connected to the rubber support (8). The surface of the rubber support (8) abuts against the laser weld seam tracker (7).

4. The welding robot weld seam recognition device according to claim 2, characterized in that: A connecting seat (2) is fixed on one side of the vertical end of the swing arm (101), and column grooves are opened at both ends of one side of the connecting seat (2).

5. The weld seam recognition device for a welding robot according to claim 4, characterized in that: The inside of the column groove is fitted with a fixing column (201) for the mounting bracket (3) to be fixed, and the column groove and the fixing column (201) are compatible.

6. The weld seam recognition device for a welding robot according to claim 1, characterized in that: The mounting base (6) has grooved rings fixed at both ends of its top for hooking by hand.

7. The welding robot weld seam recognition device according to claim 1, characterized in that: The mounting bracket (3) has a positioning slide (11) fixed at the center of the front and back sides for positioning the laser weld seam tracker (7). The inner side of the positioning slide (11) is slidably connected to the front and back sides of the laser weld seam tracker (7).

8. The weld seam recognition device for a welding robot according to claim 1, characterized in that: The mounting bracket (3) has support plates (10) fixed on both sides of its inner bottom. A baffle (9) is provided at the bottom of the mounting bracket (3) near the laser welding head (102). Mounting blocks (901) are fixed at both ends of the top of the baffle (9). The mounting blocks (901) are snapped into the corresponding mounting grooves (902) provided on the bottom of the mounting bracket (3). The mounting grooves (902) and the mounting blocks (901) are compatible.

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