Visual inspection device, automatic welding apparatus, and automatic welding system

Abstract

The utility model relates to mechanical equipment technical field provides a kind of visual inspection device, automatic welding equipment and automatic welding system, wherein, visual inspection device includes visual inspection module, connecting seat, first mounting seat and second mounting seat.Visual inspection module is fixed in connecting seat;First mounting seat is fixed in target position, and connecting seat is detachably arranged in first mounting seat;Second mounting seat is fixed in moving part, and connecting seat is detachably connected with second mounting seat.Such, by making connecting seat selectively installed to first mounting seat and second mounting seat, the switching of the safe storage and the mobile detection of visual inspection module these two states is realized.In the working process of welding torch, visual inspection module is separated from welding torch, visual inspection module is no longer located in the vicinity of welding torch, increase the distance between visual inspection module and welding torch when welding torch is welded, solve the problem that visual inspection module on automatic welding equipment in relevant technology is easily damaged by welding splashing.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and provides a visual inspection device, an automatic welding equipment, and an automatic welding system. Background Technology

[0002] With the continuous improvement of industrial automation and intelligence, automatic welding technology has become a mainstream development trend due to its advantages such as high efficiency, high stability, and high consistency. In the automatic welding process, to ensure that the welding torch can accurately follow the preset weld seam trajectory, thereby guaranteeing welding quality and precision, it is usually necessary to integrate vision inspection modules such as industrial cameras and laser scanners into the automatic welding equipment. The vision inspection module can collect information on the shape, size, and spatial position of the workpiece's welding area and feed this information back to the control system. Based on the acquired data, the control system precisely guides and adjusts the posture and position of the welding torch to adapt to the actual state of the workpiece, achieving high-precision tracking welding.

[0003] Currently, vision inspection modules are typically fixedly mounted near the welding torch and move with it. During welding operations, a large amount of high-temperature, high-speed welding spatter is generated. Due to the very close proximity of the vision inspection module to the welding torch, this welding spatter easily splashes onto the lens or other precision optical components of the vision inspection module, contaminating the lens, obstructing the field of view, and causing the acquired image to be blurry or incomplete, thus seriously affecting the accuracy of the inspection results. Moreover, the high-temperature welding spatter may cause permanent damage such as ablation and scratches to the lens surface, reducing optical performance and even rendering the equipment unusable.

[0004] Therefore, how to solve the problem that the visual inspection module on the automatic welding equipment in related technologies is easily damaged by welding spatter has become an important technical problem to be solved by those skilled in the art. Utility Model Content

[0005] This utility model provides a visual inspection device, an automatic welding equipment, and an automatic welding system to solve the defect that the visual inspection module in the automatic welding equipment in the related art is easily damaged by welding spatter. It increases the distance between the visual inspection module and the welding torch during welding, avoids welding spatter from splashing onto the visual inspection module, and reduces the failure rate of the visual inspection module.

[0006] This utility model provides a visual inspection device, comprising: Visual inspection module; A connector is provided, and the visual inspection module is fixedly mounted on the connector. The first mounting base is fixedly disposed at the target position, and the connecting base is detachably disposed on the first mounting base; The second mounting base is fixedly mounted on the moving part, and the connecting base is detachably connected to the second mounting base.

[0007] According to the visual inspection device provided by this utility model, the connecting seat is connected to the first mounting seat via a plug-in mechanism, the plug-in mechanism comprising: A first insertion slot is disposed in the first of the first mounting base and the connecting base, and the first end of the first insertion slot passes through the first base along its own axis. A first connector is disposed in the second of the first mounting base and the connecting base. The first connector is located in the first connector groove, which only allows the first connector to slide along the axial direction of the first connector groove.

[0008] According to the visual inspection device provided by this utility model, a limiting block is provided at the second end of the first insertion slot, and the limiting block is used to abut against the end of the first insertion body.

[0009] According to the visual inspection device provided by this utility model, the connecting seat and the second mounting seat are connected by a locking mechanism. The locking mechanism can switch between a locked state and an unlocked state. In the locked state, the second mounting seat and the connecting seat are tightly connected. In the unlocked state, the second mounting seat and the connecting seat can be separated.

[0010] According to the visual inspection device provided by this utility model, the locking mechanism includes: The second insertion slot is disposed in the first of the connecting seat and the second mounting seat; The second connector is disposed in the second of the connector and the second mounting base. The second connector is located in the second connector groove and is provided with a locking groove. A locking element is reciprocally slidably disposed in the first, the locking element being able to slide between a locked position and an unlocked position, wherein in the locked position the locking element is at least partially located within the locking groove, and in the unlocked position the locking element is located outside the locking groove.

[0011] According to the visual inspection device provided by this utility model, the locking mechanism further includes: An elastic element is disposed between the locking element and the first element, and the elastic element has a tendency to switch the locking element to the locking position; An abutment is disposed on the first mounting base, the abutment being used to abut against the locking member to overcome the elastic force of the elastic member.

[0012] According to the visual inspection device provided by this utility model, one end of the locking member extends to the outside of the connecting seat; The abutting member has an abutting surface facing the connecting seat. The abutting surface is set at an angle to the axis of the first insertion groove. The distance between the abutting surface and the connecting seat gradually decreases along the direction from the first end to the second end of the first insertion groove.

[0013] According to the visual inspection device provided by this utility model, a positioning mechanism is provided between the connecting seat and the second mounting seat, and the positioning mechanism is used to position the connecting seat and the second mounting seat.

[0014] According to the visual inspection device provided by this utility model, the positioning mechanism includes: A positioning block is disposed on one of the connecting seat and the second mounting seat; A positioning groove is provided in the other of the connecting seat and the second mounting seat. The positioning block is adapted to the positioning groove. When the positioning block is located in the positioning groove, the second plug body corresponds to the second plug groove.

[0015] According to the visual inspection device provided by this utility model, it further includes: A vibration damping mechanism is disposed on the first mounting base, and the vibration damping mechanism is used to attenuate the relative movement between the first mounting base and the target position.

[0016] This utility model also provides an automatic welding device, including a welding robot and the aforementioned vision inspection device. The first mounting base of the vision inspection device is fixed to the body of the welding robot, and the second mounting base of the vision inspection device is fixed to the end of the robotic arm of the welding robot.

[0017] This utility model also provides an automatic welding system, including the above-mentioned visual inspection device, or including the above-mentioned automatic welding equipment.

[0018] The visual inspection device provided by this utility model includes a visual inspection module, a connecting base, a first mounting base, and a second mounting base. The first mounting base is fixedly disposed at the target position, and the second mounting base is fixedly disposed on the moving part. The visual inspection module is fixedly disposed on the connecting base, and the connecting base is detachably disposed on the first mounting base, with the connecting base and the second mounting base detachably connected. When the connecting base is connected to the first mounting base, the connecting base is disconnected from the second mounting base, and the visual inspection module is located at the target position along with the connecting base, no longer located on the moving part. When the connecting base is connected to the second mounting base, the connecting base is disconnected from the first mounting base, and the visual inspection module is located on the moving part along with the connecting base. For automatic welding equipment, the target position can be the machine body, and the moving part is the actuator that drives the welding torch to move. When it is necessary to use the visual inspection module to perform a visual inspection task, the moving part moves the second mounting base to the first mounting base, connecting the second mounting base to the connecting base, and then disconnecting the connecting base from the first mounting base. At this time, the visual inspection module can move with the moving part to the working area to perform the visual inspection task. After completing the inspection task, the moving component moves the second mounting base to the first mounting base, connecting the connecting base to the first mounting base and then disconnecting it from the second mounting base. At this point, the vision inspection module no longer moves with the moving component; the moving component only moves the welding torch for welding operations. This configuration, by allowing the connecting base to be selectively installed on both the first and second mounting bases, achieves the switching between two states: safe storage and mobile inspection of the vision inspection module. During welding, the vision inspection module is separated from the welding torch, no longer located near it. This increased distance effectively prevents contamination or damage from high-temperature spatter during welding, greatly protecting the vision inspection module, extending its lifespan, ensuring its inspection accuracy, and solving the problem of vision inspection modules on automated welding equipment being easily damaged by welding spatter in related technologies.

[0019] Furthermore, the automatic welding equipment provided by this utility model also possesses the various advantages described above due to the presence of the visual inspection device as described above.

[0020] Furthermore, the automatic welding system provided by this utility model, having the visual inspection device or automatic welding equipment as described above, also possesses the various advantages described above. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the automatic welding equipment provided by this utility model when the vision inspection module is located at the end of the robotic arm (the connecting seat and the second mounting seat are not shown).

[0023] Figure 2 This is a schematic diagram of the automatic welding equipment provided by this utility model when the robotic arm and the machine body are connected by a visual inspection module (the connecting seat and the second mounting seat are not shown; only the relative positions of the end of the robotic arm and the machine body at the time of connection are shown).

[0024] Figure 3 This is a schematic diagram of the structure of the visual inspection device provided by this utility model.

[0025] Figure 4 This is a schematic diagram of the structure of the vision inspection module and connector provided by this utility model, which are fixed to the first mounting base and separated from the second mounting base.

[0026] Figure 5 This is a schematic diagram of the structure of the vision inspection module and connector provided by this utility model, which are fixed to the second mounting base and separated from the first mounting base.

[0027] Figure 6 This is a structural schematic diagram of the first mounting base provided by this utility model from one perspective.

[0028] Figure 7 This is a structural schematic diagram of the first mounting base provided by this utility model from another perspective.

[0029] Figure 8 This is a structural schematic diagram of the connector provided by this utility model from one perspective.

[0030] Figure 9 This is a structural schematic diagram of the connector provided by this utility model from another perspective.

[0031] Figure 10 This is a structural schematic diagram of the second mounting base provided by this utility model from one perspective.

[0032] Figure 11 This is a structural schematic diagram of the second mounting base provided by this utility model from another perspective.

[0033] Figure 12This is a cross-sectional view of the visual inspection device provided by this utility model when the locking part is in the unlocked position.

[0034] Figure 13 This is a cross-sectional view of the visual inspection device provided by this utility model when the locking part is in the locking position.

[0035] Figure label: 1. Vision inspection module; 2. Connector; 3. First mounting base; 4. Second mounting base; 5. First insertion slot; 6. First insertion body; 7. Second insertion slot; 8. Second insertion body; 9. Locking slot; 10. Locking element; 11. Elastic element; 12. Abutment element; 13. Positioning block; 14. Positioning slot; 15. Robotic arm; 16. Body; 17. Vibration damping mechanism; 18. Welding torch. Detailed Implementation

[0036] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0037] The following is combined Figures 1 to 13 This invention describes the visual inspection device.

[0038] like Figures 1 to 13 As shown, the visual inspection device provided in this embodiment of the present invention includes a visual inspection module 1, a connecting base 2, a first mounting base 3, and a second mounting base 4.

[0039] Specifically, the first mounting base 3 is fixedly set at the target position, and the second mounting base 4 is fixedly set on the moving part.

[0040] For automated welding equipment, the moving part is the actuator that drives the welding torch 18 to move. In some embodiments, the welding torch 18 is located at the end of the robotic arm 15 of the welding robot, that is, the robotic arm 15 of the welding robot is the actuator that drives the welding torch 18 to move. The target position can be a fixed position on the body 16, and the distance between the target position and the placement position of the workpiece to be welded is greater than the splash distance of the high-temperature spatter generated when the workpiece is welded. At the same time, it is necessary to ensure that the target position is within the working range of the robotic arm 15 of the welding robot, and to ensure that the end of the robotic arm 15 can move to the target position.

[0041] The visual inspection module 1 is fixedly mounted on the connector 2, the connector 2 is detachably mounted on the first mounting base 3, and the connector 2 is detachably connected to the second mounting base 4.

[0042] When the connecting seat 2 is connected to the first mounting seat 3, the connecting seat 2 is disconnected from the second mounting seat 4, and the vision inspection module 1 is located at the target position together with the connecting seat 2. The vision inspection module 1 is no longer located on the moving part.

[0043] When the connecting seat 2 is connected to the second mounting seat 4, the connecting seat 2 is disconnected from the first mounting seat 3, and the vision inspection module 1 is located on the moving part together with the connecting seat 2.

[0044] When the visual inspection module 1 needs to perform a visual inspection task, the moving part moves the second mounting base 4 to the first mounting base 3, connects the second mounting base 4 to the connecting base 2, and disconnects the connecting base 2 from the first mounting base 3. At this time, the visual inspection module 1 can move with the moving part to the working area to perform the visual inspection task.

[0045] After the inspection task is completed, the moving part moves the second mounting base 4 to the first mounting base 3, connects the connecting base 2 to the first mounting base 3, and disconnects the connecting base 2 from the second mounting base 4. At this time, the vision inspection module 1 no longer moves with the moving part, and the moving part only drives the welding torch 18 to move to perform the welding operation.

[0046] This configuration, by allowing the connecting seat 2 to be selectively installed on the first mounting seat 3 and the second mounting seat 4, enables switching between the safe storage and mobile detection states of the vision inspection module 1. During the operation of the welding torch 18, the vision inspection module 1 is separated from the welding torch 18, and is no longer located near the welding torch 18. This increases the distance between the vision inspection module 1 and the welding torch 18 during welding operations, effectively preventing contamination or damage to the vision inspection module 1 caused by high-temperature spatter generated during welding. This greatly protects the vision inspection module 1, extends its service life, ensures its detection accuracy, and solves the problem of the vision inspection module 1 on automatic welding equipment in related technologies being easily damaged by welding spatter.

[0047] In some embodiments, a snap-fit ​​mechanism or a gripping mechanism can be used to achieve a detachable connection between the first mounting base 3 and the connecting base 2, as well as a detachable connection between the second mounting base 4 and the connecting base 2. For example, gripping mechanisms are respectively provided on the first mounting base 3 and the second mounting base 4. The gripping mechanisms are equipped with driving components, which switch the state of the gripping mechanisms to grip or release the connecting base 2. When the gripping mechanism grips the connecting base 2, a fastened connection is achieved between the connecting base 2 and the first mounting base 3 or between the connecting base 2 and the second mounting base 4. When the gripping mechanism releases the connecting base 2, the connecting base 2 is separated from the first mounting base 3 or from the second mounting base 4.

[0048] In this embodiment of the invention, the connecting base 2 and the first mounting base 3 are connected by a plug-in mechanism. This plug-in connection method is simple in structure, low in cost, and facilitates quick installation and disassembly of the connecting base 2 and the first mounting base 3, thus improving operational convenience.

[0049] The insertion mechanism includes a first insertion slot 5 and a first insertion body 6. The first insertion slot 5 is disposed in the first of the first mounting base 3 and the connecting base 2, and the first end of the first insertion slot 5 extends through the first base along its own axis. The first insertion body 6 is disposed in the second of the first mounting base 3 and the connecting base 2, and the first insertion body 6 is located within the first insertion slot 5. The first insertion slot 5 only allows the first insertion body 6 to slide along the axis of the first insertion slot 5.

[0050] The sliding engagement between the first insertion slot 5 and the first insertion body 6 guides and limits the installation process of the connector 2, ensuring that the connector 2 can be stably and accurately installed in place along the preset trajectory when it is transported to the first mounting base 3 by the moving parts. This improves the stability and reliability of the docking process and avoids equipment damage or functional failure caused by installation position deviation.

[0051] The phrase "the first of the first mounting base 3 and the connecting base 2" is not the first component to appear in this sentence. The "first of the first mounting base 3 and the connecting base 2" can be either the first mounting base 3 or the connecting base 2. If the "first of the first of the first mounting base 3 and the connecting base 2" is the first mounting base 3, then the "second of the first mounting base 3 and the connecting base 2" is the connecting base 2. Conversely, if the "first of the first of the first mounting base 3 and the connecting base 2" is the connecting base 2, then the "second of the first mounting base 3 and the connecting base 2" is the first mounting base 3.

[0052] Understandably, if a first insertion slot 5 is provided on the first mounting base 3, then a first insertion body 6 can be provided on the connecting base 2. Similarly, if a first insertion slot 5 is provided on the connecting base 2, then a first insertion body 6 can be provided on the first mounting base 3. The first insertion slot 5 can be provided on either the first mounting base 3 or the connecting base 2, as long as it allows for insertion and mating between the connecting base 2 and the first mounting base 3.

[0053] Specifically, a first insertion slot 5 is provided on the first mounting base 3, and a first insertion body 6 is provided on the connecting base 2, as shown in the figure. Figures 6 to 9 .

[0054] In a specific embodiment, the first side of the first mounting base 3 is used to fix it to the target position, and the second side of the first mounting base 3 is provided with a pair of opposing first insertion slots 5. The first end of the first insertion slot 5 passes through the first mounting base 3 along its own axis. First insertion bodies 6 are provided on opposite sides of the connecting base 2, and each first insertion body 6 corresponds to a first insertion slot 5. When the connecting base 2 and the first mounting base 3 are inserted, the end of the connecting base 2 is aligned with the end of the first mounting base 3, and the end of the first insertion body 6 corresponds to the first end of the first insertion slot 5. The moving component drives the connecting base 2 to move along the axis of the first insertion slot 5 via the second mounting base 4, so that the first insertion body 6 can be inserted into the first insertion slot 5, realizing the insertion of the connecting base 2 and the first mounting base 3. Similarly, the moving component drives the connecting base 2 to move in the opposite direction via the second mounting base 4, so that the first insertion body 6 can be removed from the first insertion slot 5, realizing the separation of the connecting base 2 and the first mounting base 3.

[0055] In some embodiments, a limiting block is provided at the second end of the first insertion slot 5, the limiting block being used to abut against the end of the first insertion body 6. When the connecting seat 2 is inserted into the first mounting seat 3, the connecting seat 2 can be moved relative to the first mounting seat 3 until the first insertion body 6 abuts against the limiting block. When the first insertion body 6 abuts against the limiting block, it indicates that the connecting seat 2 and the first mounting seat 3 are inserted in place.

[0056] The interaction between the end of the first plug body 6 and the limiting block can prevent the connector 2 from slipping off the second end of the first plug groove 5 of the first mounting base 3, thus ensuring the stability of the connector 2 on the first mounting base 3.

[0057] When the visual inspection device provided in this embodiment is installed at the target position, the first insertion slot 5 is arranged in a horizontal direction. Each side wall of the first insertion slot can restrict the movement of the first insertion body 6 in a direction perpendicular to the axis of the first insertion slot 5. Combined with the limiting block, the first insertion body 6 can only enter and exit the first insertion slot 5 from the first end of the first insertion slot 5.

[0058] In this embodiment of the utility model, the connecting seat 2 and the second mounting seat 4 are connected by a locking mechanism, which can switch between a locked state and an unlocked state.

[0059] When the locking mechanism switches to the locked state, the second mounting base 4 and the connecting base 2 are securely connected, and the vision inspection module 1 and the connecting base 2 are fixed together to the second mounting base 4. This ensures the stability of the vision inspection module 1 when it moves with the moving parts and performs inspection tasks, effectively preventing a decrease in inspection accuracy due to vibration or displacement, thereby guaranteeing the reliability of the inspection results.

[0060] When the locking mechanism is switched to the unlocked state, the second mounting base 4 and the connecting base 2 can be separated. The second mounting base 4 releases the connecting base 2, allowing the connecting base 2 to be smoothly removed from the second mounting base 4, thereby fixing the vision inspection module 1 to the first mounting base 3 at the target position.

[0061] In this embodiment, the locking mechanism includes a second insertion slot 7, a second insertion body 8, and a locking member 10.

[0062] The second insertion slot 7 is disposed in the first of the connecting base 2 and the second mounting base 4, and the second insertion body 8 is disposed in the second of the connecting base 2 and the second mounting base 4. The second insertion body 8 is located within the second insertion slot 7. Through the cooperation between the second insertion body 8 and the second insertion slot 7, it provides guidance and initial positioning for the connection between the connecting base 2 and the second mounting base 4, making the docking process between the connecting base 2 and the second mounting base 4 more convenient, faster, and more accurate.

[0063] The second connector 8 is provided with a locking groove 9, and the locking member 10 is reciprocally slidably disposed on the first connector, and the locking member 10 can slide between the locked position and the unlocked position.

[0064] When the locking member 10 slides to the locking position, the locking member 10 is at least partially located within the locking groove 9, corresponding to the locking state of the locking mechanism. The locking member 10 engages with the locking groove 9, limiting the second connector 8 and preventing it from moving out of the second connector groove 7. This restricts the separation of the connecting seat 2 and the second mounting seat 4, achieving a secure connection between the connecting seat 2 and the second mounting seat 4. This ensures the stability and safety of the vision inspection module 1 during the movement of the moving parts, effectively preventing the vision inspection module 1 from loosening or falling off due to vibration or other reasons.

[0065] When the locking member 10 slides to the unlocked position, it is located outside the locking groove 9, corresponding to the unlocked state of the locking mechanism. At this time, the restriction on the second connector 8 is released, allowing it to move out of the second connector groove 7, and the connecting seat 2 can be smoothly separated from the second mounting seat 4. This allows the vision inspection module 1 to be easily moved to the first mounting seat 3 at the target position, avoiding damage from welding spatter. The entire locking and unlocking process is convenient and enables quick loading and unloading.

[0066] The phrase "the first of the connecting seat 2 and the second mounting seat 4" is not the first component to appear in this sentence. The first of the connecting seat 2 and the second mounting seat 4 can be either the connecting seat 2 or the second mounting seat 4. If the first of the connecting seat 2 and the second mounting seat 4 is the connecting seat 2, then the second of the connecting seat 2 and the second mounting seat 4 is the second mounting seat 4. If the first of the connecting seat 2 and the second mounting seat 4 is the second mounting seat 4, then the second of the connecting seat 2 and the second mounting seat 4 is the connecting seat 2.

[0067] Understandably, if a second insertion slot 7 is provided on the connecting seat 2, then the locking member 10 is provided on the connecting seat 2, and a second insertion body 8 is provided on the second mounting seat 4. If a second insertion slot 7 is provided on the second mounting seat 4, then the locking member 10 is provided on the second mounting seat 4, and a second insertion body 8 is provided on the connecting seat 2. The second insertion slot 7 can be provided on either the connecting seat 2 or the second mounting seat 4. The key is to ensure that the locking member 10 and the second insertion slot 7 are located on the same location as the connecting seat 2 and the second mounting seat 4, and that the connecting seat 2 and the second mounting seat 4 can be inserted into each other.

[0068] Specifically, a second insertion slot 7 and a locking element 10 are provided on the connecting seat 2, and a second insertion body 8 is provided on the second mounting seat 4, as shown in the figure. Figures 9 to 13 .

[0069] The locking member 10 is a locking plate with a through hole. When the locking member 10 is in the unlocked position, the through hole on the locking plate corresponds to the second insertion slot 7 on the connecting seat 2, and the second insertion body 8 can be inserted into the second insertion slot 7 through the through hole. After the locking member 10 is switched to the locked position, the through hole of the locking member 10 is offset from the second insertion slot 7 and the second insertion body 8, and the position of the locking member 10 on the side of the through hole is located in the locking groove 9 of the second insertion body 8.

[0070] In a further embodiment, the locking mechanism also includes an elastic element 11 and an abutment element 12.

[0071] The elastic element 11 is disposed between the locking element 10 and the first element, and the elastic element 11 has a tendency to switch the locking element 10 to the locking position. When the connecting seat 2 and the second mounting seat 4 are mated, the elastic element 11 can automatically drive the locking element 10 to slide to the locking position, thereby realizing the automation of the locking action. There is no need to set up an additional drive mechanism to drive the locking element 10, which not only simplifies the overall structure and reduces costs, but also ensures that the connecting seat 2 and the second mounting seat 4 always maintain a reliable and stable connection.

[0072] The elastic element 11 may be, but is not limited to, a coil spring.

[0073] The abutment 12 is disposed on the first mounting base 3 and abuts against the locking member 10 to overcome the elastic force of the elastic member 11. Thus, when it is necessary to separate the connecting base 2 from the second mounting base 4 and fix the connecting base 2 to the first mounting base 3, the abutment 12 applies a force to the locking member 10, causing the locking member 10 to overcome the elastic force of the elastic member 11 and slide towards the unlocked position, thereby realizing the automatic unlocking function. The entire switching process does not require additional manual operation or a special unlocking drive device, which greatly improves the automation level and ease of operation of the vision inspection module 1 in switching between the two states of safe storage and movement detection, and further simplifies the control process and mechanical structure.

[0074] Specifically, one end of the locking member 10 extends to the outside of the connecting seat 2, and the locking member 10 is located on the first side of the first insertion body 6 away from the first mounting seat 3. The abutment member 12 is located on the second side of the first mounting seat 3, and the abutment member 12 has an abutment surface facing the connecting seat 2. The abutment surface is set at an angle to the axis of the first insertion groove 5, such as... Figure 6 and Figure 7 As shown, the distance between the contact surface and the connecting seat 2 gradually decreases along the direction from the first end to the second end of the first insertion slot 5.

[0075] As the first insertion body 6 of the connector 2 is gradually inserted from the first end of the first insertion slot 5, the locking member 10 is resisted by the action of the abutment surface, overcomes the force of the elastic member 11, and gradually slides into the interior of the connector 2, that is, gradually slides into the unlocked position.

[0076] As the first plug body 6 of the connector 2 gradually slides out of the first plug groove 5, the abutment surface allows the locking member 10 to gradually slide outward of the connector 2 under the force of the elastic member 11, that is, to gradually slide towards the locking position.

[0077] In this embodiment, a positioning mechanism is also provided between the connecting seat 2 and the second mounting seat 4. The positioning mechanism is used to position the connecting seat 2 and the second mounting seat 4. When the moving part drives the second mounting seat 4 to approach the connecting seat 2 for connection, the positioning mechanism can guide the connecting seat 2 and the second mounting seat 4 to ensure that the second plug-in body 8 can be accurately aligned with the second plug-in slot 7, so as to smoothly complete the plugging process.

[0078] This not only improves the efficiency and success rate of automatic docking between the connector 2 and the second mounting base 4, but also effectively avoids collisions, jamming, or wear between the second connector 8 and the connector 2 due to misalignment through precise guidance. Furthermore, the positioning mechanism ensures extremely high repeatability of the connector 2 and the second mounting base 4 during each connection, guaranteeing the positional accuracy of the vision inspection module 1 on the moving parts, ensuring the detection accuracy and data consistency of the vision inspection module 1, and providing a reliable guarantee for subsequent high-precision vision inspection tasks.

[0079] Specifically, the positioning mechanism includes a positioning block 13 and a positioning groove 14.

[0080] The positioning block 13 is disposed on one of the connecting base 2 and the second mounting base 4, and the positioning groove 14 is disposed on the other of the connecting base 2 and the second mounting base 4. The positioning block 13 and the positioning groove 14 are adapted to each other. When the positioning block 13 is located in the positioning groove 14, the second plug-in body 8 corresponds to the second plug-in groove 7.

[0081] The positioning block 13 can be mounted on either the connecting seat 2 or the second mounting seat 4. If the positioning block 13 is mounted on the connecting seat 2, then the positioning groove 14 is mounted on the second mounting seat 4. If the positioning block 13 is mounted on the second mounting seat 4, then the positioning groove 14 is mounted on the connecting seat 2.

[0082] Positioning block 13 is installed in connecting seat 2, and the structure of positioning block 13 is as follows: Figure 9 As shown. The positioning groove 14 is provided in the second mounting base 4, and the structure of the positioning groove 14 is as follows. Figure 10 As shown.

[0083] In some embodiments, the visual inspection device further includes a vibration damping mechanism 17, which is disposed on the first mounting base 3. The vibration damping mechanism 17 is located between the first mounting base 3 and the target position, and is used to attenuate the relative movement between the first mounting base 3 and the target position.

[0084] Specifically, when the vision inspection module 1 is located on the first mounting base 3, the vibration damping mechanism 17 can reduce the impact of the vibration of the body 16, which is the target position, on the vision inspection module 1. Moreover, it can also reduce the impact on the vision inspection module 1 when the robotic arm 15 installs the vision inspection module 1 onto the first mounting base 3 or when the robotic arm 15 picks up the vision inspection module 1 from the first mounting base 3.

[0085] On the other hand, this embodiment of the invention also provides an automatic welding device, including a welding robot and a vision inspection device provided in any of the above embodiments. The first mounting base 3 of the vision inspection device is fixed to the body 16 of the welding robot, and the position of the first mounting base 3 remains fixed. The second mounting base 4 of the vision inspection device is fixed to the end of the robotic arm 15 of the welding robot.

[0086] The end effector of the welding robot's robotic arm 15 can pick up the connector 2 and the vision inspection module 1, and move the vision inspection module 1 to complete the vision inspection task. The end effector of the welding robot's robotic arm 15 can also release the connector 2 and the vision inspection module 1 to the first mounting base 3, fixing the vision inspection module 1 to the first mounting base 3, and the welding robot's robotic arm 15 will no longer move the vision inspection module 1.

[0087] The visual inspection device provided in any of the above embodiments realizes the switching between two states: safe storage and mobile inspection of the visual inspection module 1. It can effectively prevent high-temperature spatter generated during welding from splashing onto the visual inspection module 1 during the operation of the welding torch 18, avoid damage to the visual inspection module 1 from the high-temperature spatter, protect the visual inspection module 1, and ensure the inspection accuracy and service life of the visual inspection module 1.

[0088] Therefore, the automatic welding equipment provided in this embodiment has the advantages of high detection accuracy, high welding quality, and low failure rate.

[0089] The derivation process of the beneficial effects of the automatic welding equipment in this embodiment is largely similar to the derivation process of the beneficial effects of the visual inspection device described above, so it will not be repeated here.

[0090] Furthermore, this embodiment of the invention also provides an automatic welding system, including the visual inspection device or automatic welding equipment provided in any of the above embodiments. It possesses all the advantages of the aforementioned visual inspection device or automatic welding equipment, which will not be elaborated further here.

[0091] The derivation process of the beneficial effects of the automatic welding system in this embodiment is largely similar to the derivation process of the beneficial effects of the aforementioned visual inspection device or automatic welding equipment, so it will not be repeated here.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A visual inspection device, characterized in that, include: Visual inspection module (1); Connector (2), the visual detection module (1) is fixedly installed on the connector (2); The first mounting base (3) is fixedly set at the target position, and the connecting base (2) is detachably set on the first mounting base (3). The second mounting base (4) is fixedly mounted on the moving part, and the connecting base (2) is detachably connected to the second mounting base (4).

2. The visual inspection device according to claim 1, characterized in that, The connecting seat (2) is connected to the first mounting seat (3) via a plug-in mechanism, the plug-in mechanism comprising: The first insertion slot (5) is disposed in the first of the first mounting base (3) and the connecting base (2), and the first end of the first insertion slot (5) passes through the first one along its own axis. The first plug-in body (6) is disposed in the second of the first mounting base (3) and the connecting base (2). The first plug-in body (6) is located in the first plug-in groove (5). The first plug-in groove (5) only allows the first plug-in body (6) to slide along the axial direction of the first plug-in groove (5).

3. The visual inspection device according to claim 2, characterized in that, A limiting block is provided at the second end of the first insertion slot (5), and the limiting block is used to abut against the end of the first insertion body (6).

4. The visual inspection device according to claim 2, characterized in that, The connecting seat (2) and the second mounting seat (4) are connected by a locking mechanism. The locking mechanism can switch between a locked state and an unlocked state. In the locked state, the second mounting seat (4) and the connecting seat (2) are tightly connected. In the unlocked state, the second mounting seat (4) and the connecting seat (2) can be separated.

5. The visual inspection device according to claim 4, characterized in that, The locking mechanism includes: The second insertion slot (7) is disposed in the first of the connecting seat (2) and the second mounting seat (4); The second plug-in body (8) is disposed in the second of the connecting seat (2) and the second mounting seat (4). The second plug-in body (8) is located in the second plug-in groove (7). The second plug-in body (8) is provided with a locking groove (9). A locking member (10) is reciprocally slidably disposed in the first, the locking member (10) being able to slide between a locked position and an unlocked position, wherein in the locked position the locking member (10) is at least partially located within the locking groove (9), and in the unlocked position the locking member (10) is located outside the locking groove (9).

6. The visual inspection device according to claim 5, characterized in that, The locking mechanism further includes: An elastic element (11) is disposed between the locking element (10) and the first, and the elastic element (11) has a tendency to switch the locking element (10) to the locking position; An abutment (12) is disposed on the first mounting base (3). The abutment (12) is used to abut against the locking member (10) to overcome the elastic force of the elastic member (11).

7. The visual inspection device according to claim 6, characterized in that, One end of the locking member (10) extends to the outside of the connecting seat (2); The abutting member (12) has an abutting surface facing the connecting seat (2). The abutting surface is set at an angle to the axis of the first insertion groove (5). The distance between the abutting surface and the connecting seat (2) gradually decreases along the direction from the first end to the second end of the first insertion groove (5).

8. The visual inspection device according to claim 5, characterized in that, A positioning mechanism is provided between the connecting seat (2) and the second mounting seat (4), and the positioning mechanism is used to position the connecting seat (2) and the second mounting seat (4).

9. The visual inspection device according to claim 8, characterized in that, The positioning mechanism includes: A positioning block (13) is disposed in one of the connecting seat (2) and the second mounting seat (4); The positioning groove (14) is provided in the other of the connecting seat (2) and the second mounting seat (4). The positioning block (13) is adapted to the positioning groove (14). When the positioning block (13) is located in the positioning groove (14), the second plug body (8) corresponds to the second plug groove (7).

10. The visual inspection device according to any one of claims 1-9, characterized in that, Also includes: A vibration damping mechanism (17) is disposed on the first mounting base (3). The vibration damping mechanism (17) is used to dampen the relative movement between the first mounting base (3) and the target position.

11. An automatic welding device, characterized in that, The invention includes a welding robot and a vision inspection device as described in any one of claims 1 to 10, wherein a first mounting base (3) of the vision inspection device is fixed to the body (16) of the welding robot, and a second mounting base (4) of the vision inspection device is fixed to the end of the robotic arm (15) of the welding robot.

12. An automatic welding system, characterized in that, It includes the visual inspection device as described in any one of claims 1 to 10, or the automatic welding equipment as described in claim 11.

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