A welding guide robot based on 3D machine vision

Abstract

The utility model provides a kind of welding guiding robot tool based on 3D machine vision, comprising: power component, adjusting component and detection guiding component, for driving the power component of adjusting component is installed in the upper side surface of mounting plate, the lower side surface of the mounting plate is equipped with detection guiding component for welding guidance, the power component includes the mounting block for installing driving motor, the side surface of the mounting block away from driving motor is equipped with driving piece, compared with prior art, the utility model has the beneficial effects as follows: by setting adjusting component, in use, welding position information can be captured by detection guiding component, and adjusting component driven by power component is quickly realized flexible adjustment to welding position, not only greatly improve the precision and efficiency of welding positioning, reduce the error caused by manual intervention, but also can adapt to welding demand of different specifications workpieces, convenient for user use.

Description

Technical Field

[0001] This utility model belongs to the field of robotic equipment, and specifically relates to a welding guidance robot tooling based on 3D machine vision. Background Technology

[0002] Welding guide robot fixtures are specialized auxiliary devices that provide welding robots with precise positioning, assisted guidance, and a stable working environment. However, current applications of welding guide robot fixtures have some shortcomings. Because the fixture's inspection of workpieces mainly relies on traditional methods, it struggles to accurately acquire the actual position and shape information of workpieces when there are assembly errors, dimensional deviations, or positional shifts during clamping. This is because traditional inspection methods have limitations in the comprehensiveness and accuracy of data acquisition, failing to construct a complete three-dimensional model of the workpiece. To address this issue, conventional approaches include improving the manufacturing precision of the fixture and increasing the number of robot teaching trajectories. However, improving fixture precision implies high manufacturing costs and complex processing techniques; increasing the number of robot teaching trajectories not only consumes significant time and manpower but also struggles to comprehensively cover the diverse variations in workpieces. Therefore, a new structure is needed to solve these technical problems. Utility Model Content

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a welding guidance robot tooling based on 3D machine vision, thereby solving the problems mentioned in the background section.

[0004] This utility model is achieved through the following technical solution: a welding guidance robot fixture based on 3D machine vision, comprising: a power component, an adjustment component, and a detection and guidance component. The power component for driving the adjustment component is mounted on the upper surface of a mounting plate. The detection and guidance component for welding guidance is mounted on the lower surface of the mounting plate. The power component includes a mounting block for mounting a drive motor. A drive component is mounted on the side of the mounting block away from the drive motor. The adjustment component includes a rocker arm and a lifting component. The lifting component is mounted on the lower surface of the mounting plate. The rocker arm is mounted on the outer edge of the lower surface of the mounting plate. The detection and guidance component includes a camera for visual transmission and an infrared component for guidance.

[0005] In a preferred embodiment, three sets of mounting blocks are mounted on the outer edge of the upper surface of the mounting plate, a drive motor is mounted on the outer surface of the mounting blocks, a drive component for transmitting power to the rocker arm is mounted on the side surface of the mounting blocks away from the drive motor, and a rotary motor is mounted at the center of the upper surface of the mounting plate.

[0006] In a preferred embodiment, the rocker arm component includes a rocker arm main frame and rocker arm brackets. The outer surface of the mounting block is hinged to the rocker arm main frame via a drive component. Two rocker arm brackets are universally damped hinged to the end of the rocker arm main frame away from the mounting plate. The ends of multiple rocker arm brackets away from the rocker arm main frame are universally damped hinged to the outer edge of the upper surface of the base plate. During use, the welding position information can be captured by the detection and guidance component, and the adjustment component driven by the power component can quickly and flexibly adjust the welding position. This not only greatly improves the accuracy and efficiency of welding positioning and reduces errors caused by manual intervention, but also adapts to the welding needs of workpieces of different specifications, making it convenient for users.

[0007] In a preferred embodiment, a bearing for rotation is installed on the lower surface of the base plate, and the lifting component includes a lifting rod. The upper end of the lifting rod is connected to the output shaft of the rotating motor via a universal joint, and the lower end of the lifting rod is connected to the upper surface of the base plate via a universal joint.

[0008] In a preferred embodiment, the mounting plate is displaced above the base plate via a power assembly and an adjustment assembly. A camera for visual inspection is mounted on the left side of the lower surface of the mounting plate. The camera is electrically connected to an external 3D machine vision device. The detection end of the camera is set vertically to the base plate. In use, the detection and guidance assembly captures the three-dimensional contour and position information of the workpiece welding area at close range and with precision, providing high-precision guidance data for the welding robot in real time, effectively solving problems such as workpiece positioning deviation and deformation in traditional welding.

[0009] In a preferred embodiment, an infrared element for guiding the welding robot to perform welding is installed on the right side of the lower surface of the mounting plate, and the irradiation end of the infrared element is arranged perpendicularly to the base plate.

[0010] After adopting the above technical solution, the beneficial effects of this utility model are as follows: 1. By setting an adjustment component and installing the power component that drives the adjustment component on the upper surface of the mounting plate, when in use, by setting the adjustment component and installing the power component that drives it on the upper surface of the mounting plate, the welding position information can be captured by the detection and guidance component. In conjunction with the adjustment component driven by the power component, the welding position can be quickly and flexibly adjusted. This not only greatly improves the accuracy and efficiency of welding positioning and reduces the error caused by manual intervention, but also adapts to the welding needs of workpieces of different specifications, making it convenient for users to use.

[0011] 2. By setting up a detection and guidance component, a detection and guidance component for welding guidance is installed on the lower surface of the mounting plate. During use, the detection and guidance component captures the three-dimensional contour and position information of the workpiece welding area at close range and accurately, providing high-precision guidance data for the welding robot in real time, effectively solving problems such as workpiece positioning deviation and deformation in traditional welding. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the overall structure of a welding guidance robot tooling based on 3D machine vision according to this utility model.

[0014] Figure 2 This is a schematic diagram of the front surface structure of a welding guide robot tooling based on 3D machine vision according to this utility model.

[0015] Figure 3 This is a schematic diagram of the bottom structure of a welding guide robot tooling based on 3D machine vision according to this utility model.

[0016] In the diagram, 100 is the mounting plate, 120 is the infrared component, and 130 is the camera.

[0017] 200 - Mounting block, 210 - Drive motor, 220 - Drive component, 230 - Rotation motor;

[0018] 300-rocker arm main frame, 310-rocker arm bracket, 320-lifting rod, 330-base plate, 340-bearing. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1 to 3As the first embodiment of this utility model: a welding guidance robot tooling based on 3D machine vision, including: a power component, an adjustment component and a detection and guidance component. The power component for driving the adjustment component is installed on the upper surface of the mounting plate 100, and the detection and guidance component for welding guidance is installed on the lower surface of the mounting plate 100. The power component includes a mounting block 200 for mounting a drive motor 210. A drive component 220 is installed on the side surface of the mounting block 200 away from the drive motor 210. The adjustment component includes a rocker arm component and a lifting component. The lifting component is installed on the lower surface of the mounting plate 100, and the rocker arm component is installed on the outer edge of the lower surface of the mounting plate 100. The detection and guidance component includes a camera 130 for visual transmission and an infrared component 120 for guidance.

[0021] Three sets of mounting blocks 200 are mounted on the outer edge of the upper surface of the mounting plate 100. A drive motor 210 is mounted on the outer surface of the mounting block 200. A drive component 220 for transmitting power to the rocker arm is mounted on the side surface of the mounting block 200 away from the drive motor 210. A rotary motor 230 is mounted at the center of the upper surface of the mounting plate 100.

[0022] The rocker arm assembly includes a rocker arm main frame 300 and a rocker arm bracket 310. The rocker arm main frame 300 is hinged to the outer surface of the mounting block 200 via a drive component 220. Two rocker arm brackets 310 are universally damped hinged to one end of the rocker arm main frame 300 away from the mounting plate 100. The ends of the multiple rocker arm brackets 310 away from the rocker arm main frame 300 are universally damped hinged to the outer edge of the upper surface of the base plate 330.

[0023] The lower surface of the base plate 330 is equipped with a bearing 340 for rotation. The lifting component includes a lifting rod 320. The upper end of the lifting rod 320 is connected to the output shaft of the rotating motor 230 through a universal joint, and the lower end of the lifting rod 320 is connected to the upper surface of the base plate 330 through a universal joint.

[0024] In use, the user first installs the device in the welding area via the base plate 330 and bearing 340, enabling the device to guide the welding robot. During welding, the detection and guidance components on the lower surface of the mounting plate 100 guide the robot, ensuring it welds according to the guided position. While the detection and guidance components are guiding, the drive motor 210 on the upper surface of the mounting plate 100 activates, driving the drive component 220, which in turn moves the rocker arm main frame 300. The rocker arm main frame 300, in conjunction with the rocker arm bracket 310, folds. Simultaneously, the lifting rod 320 and rotating motor 230 on the lower surface of the mounting plate 100 work together. The lifting rod 320, in conjunction with the rocker arm component, raises and lowers to change the height, while the rotating motor 230... The lifting rod 320 then changes the position of the mounting plate 100, thereby adjusting the height and position of the mounting plate 100. This changes the height and position of the detection guide component on the lower surface of the mounting plate 100, facilitating the guidance of the detection guide component to different welding positions. (The above workflow allows users to connect the device to an external PLC control program, enabling the control program to work in conjunction with the detection guide component. The specific connection principle and structure are not detailed here.) By setting the adjustment component and installing the power component that drives it on the upper surface of the mounting plate 100, the detection guide component can capture welding position information during use. Combined with the adjustment component driven by the power component, the welding position can be quickly and flexibly adjusted. This not only significantly improves the accuracy and efficiency of welding positioning and reduces errors caused by manual intervention, but also adapts to the welding needs of workpieces of different specifications, making it convenient for users.

[0025] Please see Figures 1 to 3 As a second embodiment of the present invention: based on the description in the above embodiments, the mounting plate 100 is further displaced above the base plate 330 by a power component and an adjustment component. A camera 130 for visual inspection is mounted on the left side of the lower surface of the mounting plate 100. The camera 130 is electrically connected to an external 3D machine vision device. The detection end of the camera 130 is arranged in a vertical structure with the base plate 330.

[0026] An infrared element 120 for guiding the welding robot to perform welding is installed on the right side of the lower surface of the mounting plate 100. The irradiation end of the infrared element 120 is arranged perpendicular to the base plate 330.

[0027] In use, when the mounting plate 100 moves according to the operation steps of the first embodiment, the camera 130 on the lower surface of the mounting plate 100 performs visual detection on the welding area, thereby detecting or determining the welding area of ​​the welding robot by the user. At this time, the welding area transmits motion trajectory data to the control program through an external device, so that the mounting plate 100 can run along a predetermined trajectory according to the operation steps of the first embodiment. When the mounting plate 100 moves, the infrared component 120 on the lower surface of the mounting plate 100 illuminates and guides the welding area, thereby enabling the welding robot to perform welding, which is convenient for users (the camera 130 and the infrared component 120 mentioned above are existing technologies, and their specific working principles and connection principles are not described in detail here). In use, by using the detection and guidance component to capture the three-dimensional contour and position information of the workpiece welding area at close range and accurately, high-precision guidance data is provided to the welding robot in real time, effectively solving the problems of workpiece positioning deviation and deformation in traditional welding.

[0028] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A welding guidance robot fixture based on 3D machine vision, comprising: A power assembly, an adjustment assembly, and a detection and guidance assembly are characterized in that the power assembly for driving the adjustment assembly is mounted on the upper surface of a mounting plate (100), and a detection and guidance assembly for welding guidance is mounted on the lower surface of the mounting plate (100). The power assembly includes a mounting block (200) for mounting a drive motor (210), and a drive member (220) is mounted on the side surface of the mounting block (200) away from the drive motor (210). The adjustment assembly includes a rocker arm and a lifting member. The lifting member is mounted on the lower surface of the mounting plate (100), and the rocker arm is mounted on the outer edge of the lower surface of the mounting plate (100). The detection and guidance assembly includes a camera (130) for visual transmission and an infrared member (120) for guidance.

2. The welding guidance robot fixture based on 3D machine vision as described in claim 1, characterized in that: Three sets of mounting blocks (200) are mounted on the outer edge of the upper surface of the mounting plate (100). A drive motor (210) is mounted on the outer surface of the mounting block (200). A drive component (220) for transmitting power to the rocker arm is mounted on the side surface of the mounting block (200) away from the drive motor (210). A rotary motor (230) is mounted at the center of the upper surface of the mounting plate (100).

3. The welding guidance robot fixture based on 3D machine vision as described in claim 2, characterized in that: The rocker arm assembly includes a rocker arm main frame (300) and a rocker arm bracket (310). The outer surface of the mounting block (200) is hinged to the rocker arm main frame (300) via a drive member (220). Two rocker arm brackets (310) are universally damped hinged at one end of the rocker arm main frame (300) away from the mounting plate (100). The ends of the multiple rocker arm brackets (310) away from the rocker arm main frame (300) are universally damped hinged to the outer edge of the upper surface of the base plate (330).

4. The welding guidance robot fixture based on 3D machine vision as described in claim 3, characterized in that: The lower surface of the base plate (330) is equipped with a bearing (340) for rotation. The lifting component includes a lifting rod (320). The upper end of the lifting rod (320) is connected to the output shaft of the rotating motor (230) through a universal joint, and the lower end of the lifting rod (320) is connected to the upper surface of the base plate (330) through a universal joint.

5. The welding guidance robot fixture based on 3D machine vision as described in claim 4, characterized in that: The mounting plate (100) is displaced above the base plate (330) by a power assembly and an adjustment assembly. A camera (130) for visual inspection is mounted on the left side of the lower surface of the mounting plate (100). The camera (130) is electrically connected to an external 3D machine vision device. The detection end of the camera (130) is arranged vertically to the base plate (330).

6. The welding guidance robot fixture based on 3D machine vision as described in claim 5, characterized in that: An infrared element (120) for guiding a welding robot to perform welding is installed on the right side of the lower surface of the mounting plate (100). The irradiation end of the infrared element (120) is arranged perpendicular to the base plate (330).

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