A mobile welding robot based on binocular vision rapid teaching

Abstract

The utility model discloses a kind of mobile welding robot based on binocular vision quick demonstration, setting idler remote control car, with power system, can freely move, and rudder wheel can be positive and negative 90 ° steering, to make remote control car can straight and cross, can be flexibly used in narrow space;By adopting six-axis welding robot, long-term stable and efficient welding can be carried out, welding efficiency and welding quality are improved;Equipped with long neck 22.5 ° welding torch, welding accessibility can be improved;Through the demonstration of welding path of robot by using binocular measuring instrument and target, it is easy to operate, and the demonstration speed is fast, and it is easy to operate, reduces the skill level requirement of welding robot to operator, while simple training, easy to start, reduce the requirement for personnel stability.

Description

Technical Field

[0001] This utility model relates to a mobile welding robot based on binocular vision for rapid teaching, belonging to the field of automated welding technology. Background Technology

[0002] Current industrial welding robot technology faces two main challenges: first, most robots are limited to fixed working spaces, lacking flexibility; second, most robots rely on teach-in programming, lacking a high level of intelligence. Traditional welding robots are often confined to limited areas within a factory and are limited by track length and heavy-load handling capacity, making them unsuitable for large-scale, long-distance, or outdoor welding tasks. Furthermore, existing teach-in programming methods, such as teach pendant teaching and virtual reality teaching, while improving work efficiency, still require significant time and effort from operators and have limitations in programming complex trajectories. Current technology lacks a welding robot with no movement range limitations that can be rapidly taught. Utility Model Content

[0003] Purpose of the utility model: In order to overcome the shortcomings of the existing technology, this utility model provides a mobile welding robot based on binocular vision rapid teaching. It adopts a six-axis welding robot, which can perform long-term stable and efficient welding, improve welding efficiency and welding quality; equipped with a long-neck 22.5° welding torch, it can improve welding accessibility.

[0004] Technical solution: To solve the above technical problems, this utility model provides a mobile welding robot based on binocular vision rapid teaching, including a carrier, on which a welding robot, a binocular measuring device and an industrial control computer are installed. The welding robot and the industrial control computer are installed on the top of the carrier, and the binocular measuring device is installed on the welding robot. The carrier includes a vehicle body, with a pair of diagonally arranged drive steering wheels and a pair of diagonally arranged omnidirectional wheels at the four corners of the bottom surface of the vehicle body. A power system compartment is opened on the side of the vehicle body, and a power system is installed inside the power system compartment. A warning light is installed on the front surface of the vehicle body, and an ultrasonic ranging sensor is installed below the warning light on the surface of the vehicle body. A collision protection cover is installed on one side of the top of the vehicle body, and a robot control cabinet and an industrial control computer are installed inside the collision protection cover. A double-layer bracket is connected to the rear surface of the vehicle body, a welding power source is installed on the top of the double-layer bracket, a cleaning gun and wire cutting station is installed on the side of the welding power source, and a cooling water tank is installed inside the double-layer bracket. The welding robot is a six-axis robot. A wire feeder is installed on the third axis of the welding robot, a welding wire spool is installed on the first axis of the welding robot, a binocular measuring instrument is installed on the connecting flange of the sixth axis of the welding robot, and a welding torch is installed on the sixth axis of the welding robot. The binocular measuring device includes a binocular measuring instrument and a target. The binocular measuring instrument includes two infrared cameras, a micro industrial computer, and a Bluetooth receiver. The target includes a target body, a target ball, an infrared emitting module, a power module, a trigger switch, and a Bluetooth transmitter. Infrared emitting modules are installed at both ends and in the middle of the target body by screws. The surface of the infrared emitting module is provided with emitting points. Two power modules are installed on the back of the target body. A connecting rod is connected to one end of the target body through an adapter flange. One end of the connecting rod is connected to the target ball. A trigger switch is installed on the side of the target body.

[0005] Preferably, the welding torch is a welding torch with a 22.5° long neck. Preferably, the target body is a square tube made of carbon fiber material, the target ball is a hard alloy ball, the connecting rod and the adapter flange are integral structures, and the adapter flange is fixedly connected to the target body by screws.

[0006] Preferably, each infrared emitting module has three emitting points, and the three emitting points are arranged in a triangular pattern.

[0007] Preferably, the two power modules are connected in parallel.

[0008] Preferably, there are three trigger switches: one at the end of the target, one on the side of the target, and one on the front of the target, with the three trigger switches connected in parallel.

[0009] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model discloses a mobile welding robot based on binocular vision rapid teaching, equipped with an idler wheel remote control vehicle, with its own power system, which can move freely, and the steering wheel can turn positive and negative 90°, so that the remote control vehicle can move straight and sideways, and can be used flexibly in narrow spaces.

[0010] 2. This utility model discloses a mobile welding robot based on binocular vision rapid teaching. It adopts a six-axis welding robot, which can perform long-term stable and efficient welding, improving welding efficiency and welding quality. Equipped with a long-neck 22.5° welding torch, it can improve welding accessibility.

[0011] 3. This utility model discloses a mobile welding robot based on binocular vision for rapid teaching. It uses a binocular measuring instrument and a target to teach the robot the welding path. It is easy to operate, fast to teach, and simple to use. It reduces the skill level requirements of the welding robot operator. At the same time, the training is simple and easy to learn, reducing the requirements for personnel stability. Attached Figure Description

[0012] Figure 1This is a schematic diagram of the overall structure of a mobile welding robot based on binocular vision rapid teaching according to this utility model; Figure 2 This is a schematic diagram of the steering wheel remote control vehicle structure of a mobile welding robot based on binocular vision rapid teaching according to this utility model; Figure 3 This is a schematic diagram of a binocular measuring device for a mobile welding robot based on binocular vision rapid teaching according to this utility model. Figure 4 This utility model presents a schematic diagram of the use of a mobile welding robot based on binocular vision rapid teaching.

[0013] In the diagram: 1. Remote-controlled steering wheel vehicle; 2. Welding robot; 3. Binocular measuring instrument; 4. Industrial computer; 11. Vehicle body; 121. Drive steering wheel; 122. Casters; 13. Power system compartment; 14. Power system; 15. Ultrasonic ranging sensor; 16. Warning light; 17. Collision shield; 18. Double-layer bracket; 20. Connecting flange; 21. Robot control cabinet; 22. Wire feeder; 23. Welding torch; 24. Cooling water tank; 25. Welding wire spool; 26. Cleaning gun and wire cutting station; 27. Welding power supply; 31. Target; 311. Target body; 312. Target ball; 313. Connecting rod; 314. Adapter flange; 315. Screw; 316. Infrared emitting module; 317. Illuminating point; 318. Trigger switch; 319. Bluetooth transmitter; 320. Power module; 321. Infrared camera; 322. Micro industrial computer; 323. Bluetooth receiver; 324. Carbon fiber housing; 325. Dust cover. Detailed Implementation

[0014] The present invention will be further described below with reference to the accompanying drawings.

[0015] Please see Figure 1-3This utility model provides a technical solution: a mobile welding robot based on binocular vision for rapid teaching, including a steering wheel remote-controlled vehicle 1, a welding robot 2, a binocular measuring instrument 3, and an industrial control computer 4. The welding robot 2 is mounted on one side of the top of the steering wheel remote-controlled vehicle 1, the binocular measuring instrument 3 is mounted on one end of the welding robot 2, and the industrial control computer 4 is mounted on the other side of the top of the steering wheel remote-controlled vehicle 1. The binocular measuring instrument 3 is connected to the industrial control computer 4 via a network cable, and the industrial control computer 4 is connected to the robot control cabinet 21 via a network cable. The binocular measuring instrument 3 and the welding robot 2 are calibrated using hand-eye calibration. The principle is that the binocular measuring instrument 3 acquires pixel coordinates, while the robot 2 uses a spatial coordinate system. One of the core purposes of hand-eye calibration is to obtain the coordinate transformation relationship between the pixel coordinate system and the spatial robot coordinate system. Through the calibrated coordinate transformation matrix, the pixel position of the target detected by the binocular measuring instrument 3 in the image can be transformed into the spatial coordinate system of the robot 2. After the coordinate transformation is completed, the robot 2 can calculate the motion mode of each motor based on the transformed coordinates and control the robot to reach the designated position.

[0016] The goal of the binocular measurement device is to calculate the disparity information of each pixel in the images acquired by the left and right infrared cameras, thereby obtaining the three-dimensional information of the object in actual space. Based on the principle that human eyes perceive objects through disparity, in computer vision, two images are obtained from different positions along the same baseline to estimate the shape and distance of an object. That is, by utilizing the different positions of the target object in the two images, a disparity map is calculated, and then the three-dimensional information of the target can be obtained through the principle of similar triangles.

[0017] like Figure 3 As shown, the binocular measuring instrument 3 includes an infrared camera 321 and a micro industrial computer 322. The micro industrial computer 322 is equipped with dedicated calculation software for calculating measurement data. The target 31 includes a target body 311, infrared emitting modules 316, and a target ball 312. There are three infrared emitting modules 316, each with three or four circular emitting points 317. The positional relationship of all emitting points relative to the target ball 312 is known and defined. During the measurement process, the infrared camera 321 of the binocular measuring instrument 3 can accurately capture images of the emitting points 317. By identifying these emitting points and using a matching algorithm, the corresponding positions of the same emitting point 317 in the left and right images are found, and the disparity of these feature points is calculated. Based on the known camera parameters (such as focal length, baseline length, etc.) and the calculated disparity, the three-dimensional coordinates of the target emitting points in the world coordinate system are calculated using the principle of similar triangles. Through the three-dimensional coordinates of the target emitting points, the detailed spatial position of the target ball 312 can be further calculated, including information such as the object's rotation angle and deflection angle.

[0018] The industrial control computer 4 is equipped with dedicated control software, which has five functions: First, it communicates with the binocular measuring instrument 3 to obtain the measurement results of the binocular measuring device, namely the coordinates of the target ball 312. Second, it converts the obtained coordinates of the target ball 312 into the target coordinates of the welding gun 23 of the welding robot through the aforementioned coordinate transformation matrix. Third, it automatically generates the motion trajectory of the welding gun 23. Fourth, it transmits the motion trajectory to the welding robot 2 to execute the welding operation. Fifth, it automatically matches the welding process according to the weld type and weld posture based on the built-in expert database.

[0019] The remote-controlled steering wheel vehicle 1 includes a vehicle body 11. At the four corners of the bottom surface of the vehicle body 11 are a pair of diagonally arranged drive steering wheels 121 and a pair of diagonally arranged casters 22. The drive steering wheels 121 can rotate ±90°. With the cooperation of the casters 22, the remote-controlled steering wheel vehicle 1 can move forward and backward in a straight line and laterally. A power system compartment 13 is opened on the side of the vehicle body 1. A power system 14 is installed inside the power system compartment 13. The power system 14 is modularly designed and can be installed and removed as a whole from the side opening of the power system compartment 13, facilitating replacement and maintenance. A warning light 15 is installed on the front surface of the vehicle body 11. An ultrasonic ranging sensor 15 is installed below the warning light 15 on the surface of the vehicle body 11. The ultrasonic ranging sensor 15 automatically determines the distance between the vehicle body and the object in front, ensuring that the steering wheel remote control vehicle 1 will not collide with it. A collision protection cover 17 is set on one side of the top of the vehicle body 11. The robot control cabinet 21 and the industrial control computer 4 are installed inside the collision protection cover 17. A double-layer bracket 18 is connected to the rear surface of the vehicle body 11. A welding power source 27 is installed on the top of the double-layer bracket 18. A cleaning gun and wire cutting station 26 is installed on the side of the welding power source 27 on the rear surface of the vehicle body 11. A cooling water tank 24 is installed inside the double-layer bracket 18. Welding robot 2 is a six-axis robot. A wire feeder 22 is installed on the third axis of welding robot 2, a welding wire spool 25 is installed on the first axis of welding robot 2, a binocular measuring instrument 3 is installed on the connecting flange of the sixth axis of welding robot 2, and a welding torch 23 is installed on the sixth axis of welding robot 2. The six-axis robot is a mature technology, so its structure will not be described in detail here. The binocular measuring device includes a binocular measuring instrument 3 and a target 31. The binocular measuring instrument 3 includes two infrared cameras 321, a micro industrial computer 322, a Bluetooth receiver 323, a carbon fiber housing 324, and a dust cover 325. The two infrared cameras 321 are installed on both sides of the carbon fiber housing 324. The micro industrial computer 322 is installed inside the middle of the carbon fiber housing 324. The dust cover 325 is installed outside the micro industrial computer 322. The Bluetooth receiver 323 is installed on the dust cover 325. The infrared camera 321 is responsible for taking pictures of the target 31. The micro industrial control computer is responsible for processing the picture information, communicating with the target 31 to obtain the position and pose information of the target 31, converting it into the coordinate information of the center of the target ball 312, and communicating with the industrial control computer 4. The target 31 includes a target body 311, a target ball 312, an infrared light-emitting module 316, a power module 320, a trigger switch 318, and a Bluetooth transmitter 319. The infrared light-emitting module 316 is installed at both ends and in the middle of the target body 311 by screws 315. The infrared light-emitting module 316 has light-emitting points 317 on its surface. Two power modules 320 are installed on the back of the target body 311. One end of the target body 311 is connected to a connecting rod 313 through an adapter flange 314. One end of the connecting rod 313 is connected to the target ball 312. A trigger switch 318 is installed on the side of the target body 311.

[0020] Furthermore, the welding torch 23 adopts a long neck of 22.5°.

[0021] Furthermore, the target body 311 is a carbon fiber square tube, the target ball 312 is a hard alloy ball, the connecting rod 313 and the adapter flange 314 are integral structures, and the adapter flange 314 is securely connected to the target body 311 by screws 315.

[0022] Furthermore, each infrared light-emitting module 316 has three light-emitting points 317, and the three light-emitting points 317 are arranged in a triangular distribution.

[0023] Furthermore, the two power modules 320 are connected in parallel.

[0024] Furthermore, three trigger switches 318 are provided: one trigger switch 318 is located at the end of the target 311, one trigger switch 318 is located on the side of the target 311, and one trigger switch 318 is located on the front of the target 311. The three trigger switches 318 are connected in parallel. Their function is to trigger the infrared light-emitting module 316 to emit light, and at the same time communicate with the binocular measuring instrument 3 through the Bluetooth module 319 to trigger the binocular measuring instrument 3 to take pictures of the target 31.

[0025] Working principle: (1) Camera calibration and hand-eye calibration are performed on the binocular measuring instrument 3 and the welding robot 2 in sequence through the target 31; (2) Extract several points between the start and end positions of the weld by sequentially passing through the target 31; (3) The system automatically transforms the point coordinate information into coordinates to generate the running trajectory of the welding gun 23; (4) The system automatically matches the welding process according to the weld location and weld type; (5) The system starts and welding begins at the starting position and ends at the ending position; (6) The robot returns to its initial position.

[0026] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A mobile welding robot based on binocular vision for rapid teaching, characterized in that: The device includes a carrier on which a welding robot, a binocular measuring device, and an industrial control computer are mounted. The welding robot and the industrial control computer are mounted on the top of the carrier, and the binocular measuring device is mounted on the welding robot. The carrier includes a vehicle body, with a pair of diagonally arranged drive steering wheels and a pair of diagonally arranged omnidirectional wheels at the four corners of the bottom surface of the vehicle body. A power system compartment is opened on the side of the vehicle body, and a power system is installed inside the power system compartment. A warning light is installed on the front surface of the vehicle body, and an ultrasonic ranging sensor is installed below the warning light on the surface of the vehicle body. A collision protection cover is installed on one side of the top of the vehicle body, and a robot control cabinet and an industrial control computer are installed inside the collision protection cover. A double-layer bracket is connected to the rear surface of the vehicle body, a welding power source is installed on the top of the double-layer bracket, a cleaning gun and wire cutting station is installed on the side of the welding power source, and a cooling water tank is installed inside the double-layer bracket. The welding robot is a six-axis robot. A wire feeder is installed on the third axis of the welding robot, a welding wire spool is installed on the first axis of the welding robot, a binocular measuring instrument is installed on the connecting flange of the sixth axis of the welding robot, and a welding torch is installed on the sixth axis of the welding robot. The binocular measuring device includes a binocular measuring instrument and a target. The binocular measuring instrument includes two infrared cameras, a micro industrial computer, and a Bluetooth receiver. The target includes a target body, a target ball, an infrared emitting module, a power module, a trigger switch, and a Bluetooth transmitter. Infrared emitting modules are installed at both ends and in the middle of the target body by screws. The surface of the infrared emitting module is provided with emitting points. Two power modules are installed on the back of the target body. A connecting rod is connected to one end of the target body through an adapter flange. One end of the connecting rod is connected to the target ball. A trigger switch is installed on the side of the target body.

2. The mobile welding robot based on binocular vision rapid teaching according to claim 1, characterized in that: The target body is a square tube made of carbon fiber material, the target ball is a hard alloy ball, the connecting rod and the adapter flange are integral structures, and the adapter flange is fixedly connected to the target body by screws.

3. The mobile welding robot based on binocular vision rapid teaching according to claim 1, characterized in that: Each infrared emitting module has three emitting points, which are arranged in a triangular pattern.

4. The mobile welding robot based on binocular vision rapid teaching according to claim 1, characterized in that: The two power modules are connected in parallel.

5. A mobile welding robot based on binocular vision for rapid teaching according to claim 1, characterized in that: There are three trigger switches: one at the end of the target, one on the side of the target, and one on the front of the target. The three trigger switches are connected in parallel.

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