A collaborative robot-based intelligent welding equipment for rapid deployment

Abstract

This application discloses a rapid deployment intelligent welding device for collaborative robots, belonging to the field of robotic welding technology. It includes: a guide rail, which is mounted on the workpiece to be welded. A sliding component is slidably connected to the guide rail, and the sliding component is connected to the collaborative robot. It also includes a welding component, which includes a welding torch disposed at the end of the collaborative robot's arm, electrically connected to the collaborative robot. Moving the sliding component allows the collaborative robot to move along the guide rail, thereby enabling welding operations on large workpieces. An intelligent 3D camera is also mounted on the collaborative robot's arm, used to capture images of the weld seam. When the collaborative robot moves to a position near the weld seam via the sliding component, the intelligent 3D camera can scan and extract the precise location of the weld seam and transmit this location information to the collaborative robot. When automatically welding the same weld seam at different locations, precise welding can be achieved without repeated teaching.

Description

Technical Field

[0001] This application relates to the field of robotic welding technology, and more particularly to a rapid deployment intelligent welding device for collaborative robots. Background Technology

[0002] Collaborative robots are increasingly used in industrial production due to their advantages such as flexible deployment and collaborative operation with humans, especially in the field of welding. When welding multiple varieties of products in small batches, collaborative robots can better demonstrate their advantages of efficiency and convenience.

[0003] When collaborative robots are used in welding applications, the size of the workpieces to be welded varies. Workpieces within the reach of the collaborative robot's arm span can be used, but large workpieces that exceed the reach of the collaborative robot's arm span require frequent movement of the robot or the workpiece to meet the welding range of the collaborative robot. When the workpiece is inconvenient to move, the robot needs to be moved frequently. Each movement requires re-teaching and reprogramming, which is inefficient. Re-teaching after movement can also cause unstable welding quality and easily lead to welding defects. Summary of the Invention

[0004] The purpose of this application is to provide a rapid deployment intelligent welding device for collaborative robots, which solves the problem in the prior art that when welding large workpieces that exceed the working range of the collaborative robot's arm span, the robot needs to be moved frequently. Each movement requires re-teaching and reprogramming, which is inefficient. Furthermore, re-teaching after movement can cause unstable welding quality and easily lead to welding defects.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0006] This application provides a rapid deployment intelligent welding device for collaborative robots, comprising:

[0007] A guide rail, which is mounted on the workpiece to be welded;

[0008] A sliding component, which is slidably disposed on the guide rail for supporting the collaborative robot;

[0009] A welding assembly, comprising a welding torch and a smart 3D camera mounted on the collaborative robot, wherein the welding torch and the smart 3D camera are electrically connected to the collaborative robot respectively.

[0010] In this solution, a guide rail is mounted on the workpiece to be welded, and the collaborative robot is connected to the guide rail via a sliding assembly. The collaborative robot is equipped with a welding torch and a smart 3D camera. The smart 3D camera can extract the weld seam of the workpiece and transmit the weld seam's position information to the collaborative robot. The collaborative robot then drives the welding torch to weld the seam. Moving the sliding assembly allows the collaborative robot to move along the guide rail, thus enabling welding operations on large workpieces that exceed the robot's reach.

[0011] In the process of welding the same weld seam at different locations on a workpiece, the first weld seam is first manually taught. After the first weld seam is completed, a sliding component moves the collaborative robot to a position near the next weld seam, ensuring that the weld seam is within the shooting range of the intelligent 3D camera. After the movement is complete, the intelligent 3D camera scans and extracts the precise position of the weld seam, and this position information is transmitted to the collaborative robot. The collaborative robot then drives the welding torch to weld the seam, thus achieving automatic welding of the same weld seam at different locations.

[0012] The collaborative robot in this solution is highly mobile and can easily perform welding operations on large workpieces, significantly reducing the labor intensity of operators and improving on-site welding efficiency. Furthermore, when welding the same weld seam at different locations on a workpiece, the collaborative robot can automatically weld the same weld seam at different locations without needing to be reprogrammed after each movement, thus improving the welding quality of the workpiece.

[0013] Optionally, the sliding assembly includes: a slider slidably connected to the guide rail, a pin base plate at the top of the slider, a slide plate at the top of the pin base plate, and a first switch-type magnetic base connected to the top of the slide plate, the first switch-type magnetic base being used to connect the collaborative robot.

[0014] Optionally, a track seat is provided at the bottom of the guide rail, and a friction plate is provided on one side of the track seat along the length of the guide rail; a drive assembly is provided on the slide plate, the drive assembly includes: a motor seat, the motor seat is provided at the top of the slide plate, a drive motor is provided inside the motor seat, the output shaft of the drive motor passes through the slide plate and is axially connected to a friction wheel, and the friction wheel is in frictional contact with the friction plate.

[0015] In this design, a friction plate is installed along the length of the guide rail on one side of the track base. A drive assembly, comprising a drive motor and a friction wheel, is mounted on the sliding plate. The drive motor is powered by an external power source; the friction wheel makes frictional contact with the friction plate. The drive motor drives the friction wheel to rotate, which in turn moves the sliding plate along the length of the guide rail, thus moving the collaborative robot. This design, through the cooperation of the drive assembly and the friction plate, enables the collaborative robot to move, significantly reducing the labor intensity of workers and improving on-site welding efficiency.

[0016] Optionally, the slide plate is provided with an adjustment assembly, which includes: a fixed base, a locking block, and a rotating plate. The fixed base is fixedly connected to the top of the slide plate and defines a groove. A rotating rod is arranged in the groove along the axial direction of the friction wheel. The locking block is fixedly connected to the top of the slide plate and has a locking rod parallel to the slide plate. One end of the rotating plate is rotatably connected to the rotating rod, and the other end defines a slot. The slot engages with the locking rod. When the rotating plate rotates around the rotating rod, the slot can slide on the locking rod. An adjusting nut is threaded onto the locking rod. A spring is provided between the adjusting nut and the rotating plate. The motor base is fixedly connected to one side of the rotating plate. The slide plate defines a hole for the output shaft of the drive motor to move. The spring presses against the rotating plate so that the friction wheel presses against the friction plate.

[0017] In this design, the motor mount is fixedly connected to the rotating plate. One end of the rotating plate is rotatably connected to a rotating rod, allowing the plate to drive the motor mount to rotate around the rod. Furthermore, the other end of the rotating plate defines a slot, which engages with the locking rod. When the rotating plate rotates around the rod, the slot slides on the locking rod without disengaging. An adjusting nut is threaded onto the locking rod, and a spring is positioned between the adjusting nut and the rotating plate. The spring presses against the rotating plate, causing the friction wheel to press against the friction plate. By adjusting the position of the adjusting nut on the locking rod, a tight contact between the friction wheel and the friction plate is ensured, creating rolling friction and driving the sliding plate to move the collaborative robot smoothly.

[0018] Optionally, a protective cover is provided on the top of the skateboard, and the drive assembly and the spring clamping assembly are located inside the protective cover.

[0019] Optionally, there are two guide rails arranged in parallel. Each guide rail has a rail seat at its bottom, and the two rail seats are connected by a connecting plate. A pressure plate is provided on the side of each rail seat away from the connecting plate, and the pressure plate is connected to a magnetic suction assembly for connecting the workpiece to be welded.

[0020] Optionally, the magnetic attraction assembly includes a second switchable magnetic base, the bottom of which is attached to the workpiece to be welded, and a positioning and clamping block is provided on one side wall of the second switchable magnetic base, which is bolted to the pressure plate.

[0021] This solution uses a magnetic assemblies to fix the track holder to the workpiece to be welded. The magnetic assemblies include a second switch-type magnetic base, which is attached to the workpiece and can be used to attract or release the workpiece via a switch operation. One side of the second switch-type magnetic base is fixedly connected to a pressure plate via a positioning clamping block. The track holder can be easily fixed and released via a switch operation.

[0022] Compared with existing technologies, the beneficial effects achieved by this application are as follows: This application uses a sliding component to move a collaborative robot along a guide rail, thereby enabling welding operations on large workpieces that exceed the robot's reach. During the welding process of different positions of the same weld seam on the workpiece, this application allows for manual teaching of the first weld seam. After the first weld seam is completed, the sliding component moves the collaborative robot to a position near the next weld seam. A smart 3D camera scans and extracts the precise position of the weld seam, and this position information is transmitted to the collaborative robot. The collaborative robot then uses a welding torch to weld the seam, thus achieving automatic welding of different positions of the same weld seam.

[0023] The collaborative robot in this solution is highly mobile and can easily perform welding operations on large workpieces, significantly reducing the labor intensity of operators and improving on-site welding efficiency. When welding the same weld seam at different locations on a workpiece, the collaborative robot does not require reprogramming after each movement, enabling automatic welding of the same weld seam at different locations and improving the welding quality of the workpiece. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 These are partial structural assembly diagrams of some embodiments provided in this application;

[0026] Figure 2 These are schematic diagrams of guide rail structures from some embodiments provided in this application;

[0027] Figure 3 These are schematic diagrams of the sliding component structure of some embodiments provided in this application;

[0028] Figure 4 These are schematic diagrams of the drive components and adjustment components provided in some embodiments of this application;

[0029] Figure 5 These are schematic diagrams of the magnetic suction component structures of some embodiments provided in this application;

[0030] Figure 6 This is a schematic diagram of the overall structure of some embodiments provided in this application;

[0031] Figure 7 This is a schematic diagram of the welding assembly structure of some embodiments provided in this application.

[0032] Explanation of reference numerals in the attached diagram: 1-Guide rail; 2-Sliding assembly; 3-Welding assembly; 4-Collaborative robot; 5-Drive assembly; 6-Adjusting assembly; 7-Magnetic assembly; 8-Protective cover; 11-Rail seat; 12-Friction plate; 13-Connecting plate; 14-Pressure plate; 21-Slider; 22-Pin base plate; 23-Slide plate; 24-First switch-type magnetic seat; 25-Locking pin; 31-Welding torch; 32-Intelligent 3D camera; 33-Welding mobile carriage; 34-Wire feeder; 35-Welding power supply; 36-Electrical control box; 51-Motor seat; 52-Drive motor; 53-Friction wheel; 61-Fixed seat; 62-Clamping block; 63-Rotating plate; 64-Rotating rod; 65-Locking rod; 66-Adjusting nut; 67-Spring; 71-Second switch-type magnetic seat; 72-Positioning clamping block; 611-Groove; 631-Slot. Detailed Implementation

[0033] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure / application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0034] Example 1

[0035] This embodiment describes a collaborative robot for rapid deployment of intelligent welding equipment, referencing... Figures 1 to 3The rapid deployment intelligent welding equipment for the collaborative robot in this embodiment includes: a guide rail 1 for mounting on the workpiece to be welded. A sliding assembly 2 is slidably connected to the guide rail 1. The sliding assembly 2 includes a slider 21 slidably connected to the guide rail 1, a pin-through base plate 22 on the top of the slider 21, and a sliding plate 23 on the top of the pin-through base plate 22. The pin-through base plate 22 and the sliding plate 23 are respectively provided with pin holes, and the two are assembled by inserting a locking pin 25 into the pin holes. Further, a first switch-type magnetic base 24 is connected to the top of the sliding plate 23. The first magnetic base is fixed to the top of the collaborative robot, and its model is PT-CZ06. Further, this embodiment also includes a welding assembly 3, which includes a welding torch 31 disposed at the end of the collaborative robot's arm. The welding torch 31 is electrically connected to the collaborative robot. By moving the sliding assembly 2, the collaborative robot can be moved along the direction of the guide rail 1, thereby realizing the welding operation of large workpieces that exceed the working range of the collaborative robot's arm span. An intelligent 3D camera 32 is also disposed on the arm of the collaborative robot. The intelligent 3D camera 32 is used to capture images of the weld seam on the workpiece. In this embodiment, the intelligent 3D camera 32 is a Vijing Intelligent SVersion-HJ-RGBD-130. It can extract the weld seam on the workpiece and transmit the weld seam's position information to the collaborative robot.

[0036] In the process of welding the same weld seam at different locations on a workpiece, firstly, the first weld seam is manually taught. After the first weld seam is completed, the sliding component 2 moves the collaborative robot to a position near the next weld seam. It is important to note that this position should be within the shooting range of the intelligent 3D camera 32. After the movement is complete, the intelligent 3D camera 32 scans and extracts the precise position of the weld seam, and transmits this position information to the collaborative robot. The collaborative robot then drives the welding torch 31 to weld the seam, thus achieving automatic welding of the same weld seam at different locations.

[0037] The collaborative robot in this embodiment is easy to move and can easily perform welding operations on large workpieces, greatly reducing the labor intensity of operators and improving the efficiency of on-site welding work. In addition, when welding different positions of the same weld seam on a workpiece, the collaborative robot does not need to be re-taught and programmed after each movement, and can automatically weld the same weld seam at different positions, thus improving the welding quality of the workpiece to be welded.

[0038] refer to Figure 6 and Figure 7 In this embodiment, the welding assembly 3 further includes a welding mobile carriage 33. The welding mobile carriage 33 is equipped with a wire feeder 34, a welding power source 35, and an electrical control box 36. The wire feeder 34 is adapted to feed welding wire to the welding torch 31. The welding power source 35 is electrically connected to the welding torch 31 and is used to provide welding power. The electrical control box 36 is electrically connected to the welding power source 35 and is used to control the welding power.

[0039] Example 2:

[0040] Based on the same inventive concept as Embodiment 1, refer to Figure 2 In this embodiment, a track seat is provided at the bottom of the guide rail 1, and a friction plate 12 is provided on one side of the track seat along the length of the guide rail 1. Further, referring to... Figure 3 and Figure 4 A drive assembly 5 is mounted on the slide plate 23. The drive assembly 5 includes a motor mount 51, which is located on top of the slide plate 23 and houses a drive motor 52 powered by an external power source. The output shaft of the drive motor 52 passes through the slide plate 23 and is axially connected to a friction wheel 53. The friction wheel 53 makes frictional contact with the friction plate 12. Further, in this embodiment, the drive motor 52 is signal-connected to a PLC controller. The PLC controller model is Xinje XC3-14T-C. The PLC controller enables control of the drive motor, thereby achieving automatic movement of the collaborative robot. In this embodiment, the drive motor 52 drives the friction wheel 53 to rotate, which in turn moves the slide plate 23 along the length of the guide rail 1, thus moving the collaborative robot. The drive assembly 5, in conjunction with the friction plate 12, completes the movement of the collaborative robot, significantly reducing the labor intensity of workers and improving on-site welding efficiency.

[0041] refer to Figure 3 and Figure 5 In this embodiment, there are two guide rails 1 arranged in parallel. A track seat is provided at the bottom of each guide rail 1. The two track seats are connected by a connecting plate 13. A pressure plate 14 is provided on the side of the track seat away from the connecting plate 13. A magnetic attraction assembly 7 is connected to the pressure plate 14, and the magnetic attraction assembly 7 includes a second switch-type magnetic seat 71. The second switch-type magnetic seat 71 is also model PT-CZ06. The bottom of the second switch-type magnetic seat 71 is attached to the workpiece to be welded and can attract or release the workpiece through a switch operation. One side of the second switch-type magnetic seat 71 is fixedly connected to the pressure plate 14 by a positioning clamping block 72. The track seat can be easily fixed and released through a switch operation.

[0042] Example 3:

[0043] Based on the same inventive concept as Embodiment 2, refer to Figures 2 to 4In this embodiment, an adjustment assembly 6 is provided on the slide plate 23. The adjustment assembly 6 includes a fixed base 61, a locking block 62, and a rotating plate 63. The fixed base 61 is fixedly connected to the top of the slide plate 23. The fixed base 61 defines a groove 611, within which a rotating rod 64 is arranged along the axial direction of the friction wheel 53. Further, the locking block 62 is fixedly connected to the top of the slide plate 23, and a locking rod 65 parallel to the slide plate 23 is provided on the locking block 62. One end of the rotating plate 63 is rotatably connected to the rotating rod 64, and the opposite end defines a slot 631, which engages with the locking rod 65. When the rotating plate 63 rotates around the rotating rod 64, the slot 631 can slide on the locking rod 65. An adjusting nut 66 is threaded onto the locking rod 65, and a spring 67 is provided between the adjusting nut 66 and the rotating plate 63. The motor base 51 is fixedly connected to one side of the rotating plate 63. The sliding plate 23 defines a hole for the output shaft of the drive motor 52 to move. The spring 67 presses against the rotating plate 63 so that the friction wheel 53 presses against the friction plate 12.

[0044] In this embodiment, the motor mount 51 is fixedly connected to the rotating plate 63. One end of the rotating plate 63 is rotatably connected to the rotating rod 64, allowing the rotating plate 63 to drive the motor mount 51 to rotate around the rotating rod 64. The other end of the rotating plate 63 defines a slot 631, which is engaged with the locking rod 65. When the rotating plate 63 rotates around the rotating rod 64, the slot 631 can slide on the locking rod 65 without disengaging from it. An adjusting nut 66 is threaded onto the locking rod 65, and a spring 67 is provided between the adjusting nut 66 and the rotating plate 63. The spring 67 presses against the rotating plate 63 to make the friction wheel 53 press against the friction plate 12. By adjusting the position of the adjusting nut 66 on the locking rod 65, it is ensured that the friction wheel 53 and the friction plate 12 are in close contact, forming rolling friction of the friction wheel 53 to drive the slide plate 23 to move the collaborative robot smoothly.

[0045] In this embodiment, a protective cover 8 is provided on the top of the slide plate 23. The drive assembly 5 and the spring 67 clamping assembly are located inside the protective cover 8 to avoid damage caused by welding slag splashes.

[0046] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this disclosure / application, and these improvements and modifications should also be considered within the protection scope of this disclosure / application.

Claims

1. A rapid deployment intelligent welding device for collaborative robots, characterized in that, include: Guide rail (1), the guide rail (1) is mounted on the workpiece to be welded; Sliding component (2), which is slidably disposed on the guide rail (1) to support the collaborative robot (4); The welding assembly (3) includes a welding torch (31) and a smart 3D camera (32) mounted on the collaborative robot (4), and the welding torch (31) and the smart 3D camera (32) are electrically connected to the collaborative robot (4) respectively.

2. The rapid deployment intelligent welding equipment for collaborative robots according to claim 1, characterized in that, The sliding assembly (2) includes: a slider (21) slidably connected to the guide rail (1), a pin base plate (22) is provided on the top of the slider (21), a slide plate (23) is provided on the top of the pin base plate (22), and a first switch-type magnetic seat (24) is connected to the top of the slide plate (23). The first switch-type magnetic seat (24) is used to connect the collaborative robot (4).

3. The rapid deployment intelligent welding equipment for collaborative robots according to claim 2, characterized in that, The bottom of the guide rail (1) is provided with a track seat (11), and a friction plate (12) is provided on one side of the track seat (1) along the length direction of the guide rail (1); a drive assembly (5) is provided on the slide plate (23), and the drive assembly (5) includes: a motor seat (51), the motor seat (51) is provided on the top of the slide plate (23), a drive motor (52) is provided inside the motor seat (51), the output shaft of the drive motor (52) passes through the slide plate (23) and is axially connected to a friction wheel (53), and the friction wheel (53) is in frictional contact with the friction plate (12).

4. The rapid deployment intelligent welding equipment for collaborative robots according to claim 3, characterized in that, An adjustment assembly (6) is provided on the slide plate (23). The adjustment assembly (6) includes: a fixed base (61), a locking block (62), and a rotating plate (63). The fixed base (61) is fixedly connected to the top of the slide plate (23). The fixed base (61) defines a groove (611). A rotating rod (64) is provided in the groove (611) along the axial direction of the friction wheel (53). The locking block (62) is fixedly connected to the top of the slide plate (23). The locking block (62) is provided with a locking rod (65) parallel to the slide plate (23). One end of the rotating plate (63) is rotatably connected to the rotating rod (64), and the other end defines a slot (65). 31), the slot (631) is engaged with the locking rod (65). When the rotating plate (63) rotates around the rotating rod (64), the slot (631) can slide on the locking rod (65). An adjusting nut (66) is threaded onto the locking rod (65). A spring (67) is provided between the adjusting nut (66) and the rotating plate (63). The motor seat (51) is fixedly connected to one side of the rotating plate (63). The sliding plate (23) defines a hole for the output shaft of the drive motor (52) to move. The spring (67) presses against the rotating plate (63) so that the friction wheel (53) presses against the friction plate (12).

5. The rapid deployment intelligent welding equipment for collaborative robots according to claim 4, characterized in that, The drive motor (52) is connected to a PLC controller.

6. The rapid deployment intelligent welding equipment for collaborative robots according to claim 4, characterized in that, The top of the skateboard (23) is provided with a protective cover (8), and the drive assembly (5) and the spring (67) clamping assembly are located inside the protective cover (8).

7. The rapid deployment intelligent welding equipment for collaborative robots according to claim 3, characterized in that, There are two guide rails (1), which are arranged in parallel. Each of the two guide rails (1) has a track seat (11) at its bottom. The two track seats (11) are connected by a connecting plate (13). A pressure plate (14) is provided on the side of the two track seats (11) away from the connecting plate (13). The pressure plate (14) is connected to a magnetic suction assembly (7). The magnetic suction assembly (7) is used to connect the workpiece to be welded.

8. The rapid deployment intelligent welding equipment for collaborative robots according to claim 7, characterized in that, The magnetic attraction assembly (7) includes: a second switch-type magnetic base (71), the bottom of the second switch-type magnetic base (71) is attached to the workpiece to be welded, and a positioning clamping block (72) is provided on one side wall of the second switch-type magnetic base (71), and the positioning clamping block (72) is bolted to the pressure plate (14).

9. The rapid deployment intelligent welding equipment for collaborative robots according to claim 2, characterized in that, The welding assembly (3) further includes a welding mobile vehicle (33), which is equipped with a wire feeder (34), a welding power source (35), and an electrical control box (36). The wire feeder (34) is adapted to feed welding wire to the welding torch (31). The welding power source (35) is electrically connected to the welding torch (31), and the electrical control box (36) is electrically connected to the welding power source (35).

10. The rapid deployment intelligent welding equipment for collaborative robots according to claim 2, characterized in that, The pin-through base plate (22) and the slide plate (23) are respectively provided with pin holes, and the pin-through base plate (22) and the slide plate (23) are assembled by locking pins (25).

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