Multi-degree-of-freedom mirror seam positioning and executing device for welding robot

Abstract

The utility model relates to welding automation technical field discloses a kind of multi-degree-of-freedom mirror surface weld joint positioning execution devices for welding robot, the device includes workbench and the positioning assembly installed in mechanical arm;Positioning assembly is equipped with laser vision sensor, its inside includes adjusting assembly and fixed component.Adjusting assembly is locked by setting elastic member and clamping block locking mechanism linked with positioner, realizes that sensor posture can be quickly adjusted with multi-degree-of-freedom according to pressing positioner;Fixed component is by setting buckle type quick assembly and disassembly mechanism driven by handle, realizes the convenient installation and disassembly on mechanical arm.The utility model effectively solves mirror surface reflection interference, with positioning accurate, adjusting quick, the effect of easy assembly and disassembly.

Description

Technical Field

[0001] This utility model relates to the field of welding automation technology, and in particular to a multi-degree-of-freedom mirror weld positioning and execution device for welding robots. Background Technology

[0002] Welding robots are widely used in modern industrial production such as automobile manufacturing, shipbuilding, and aerospace due to their high efficiency and stability. To achieve precise automated welding, the robot must be able to accurately identify and track the weld seam trajectory on the workpiece; therefore, weld seam positioning and tracking technology is a core component of robotic automated welding systems.

[0003] In early technologies, welding robots primarily employed a "teach-and-reproduce" working mode, where the motion trajectory of the welding torch was pre-set by a human, and the robot repeated this trajectory during operation. However, this method places extremely high demands on the assembly accuracy and consistency of the workpiece. If there is even a slight deviation in the position of the workpiece in the fixture, or if the workpiece itself has manufacturing tolerances, the preset trajectory will deviate from the actual weld, leading to welding defects and failing to meet the needs of flexible production.

[0004] To overcome the limitations of the teaching-based model, machine vision-based positioning technology has emerged. By installing an industrial camera at the end effector of a robot, real-time images of the weld seam can be captured, and the weld seam's location can be identified through image processing algorithms, thereby dynamically guiding the welding torch to track it. This method greatly improves the flexibility and precision of welding. However, when welding materials with specular reflective properties, such as stainless steel and aluminum alloys, traditional vision positioning technology encounters new bottlenecks. The surface of these materials reflects ambient light and the intense arc light generated during welding, resulting in large areas of overexposure, glare, and cluttered reflective points in the images captured by the camera. The contour features of the weld seam are severely obscured, making it difficult for image processing algorithms to reliably and accurately extract weld seam information, thus significantly reducing positioning accuracy or even causing complete failure. In addition, the installation of some existing vision positioning devices at the end effector of the robot arm and the angle adjustment process are relatively cumbersome, reducing the efficiency of production preparation. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a solution to improve the problems of low positioning accuracy caused by reflection interference when facing mirror-material workpieces in the visual positioning device for welding robots, as well as the cumbersome and inconvenient installation and attitude adjustment process of the device itself. This utility model aims to provide a multi-degree-of-freedom mirror weld positioning execution device for welding robots with an improved structure that can effectively solve the above problems.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multi-degree-of-freedom mirror weld positioning execution device for welding robots, comprising: a robotic arm, a positioning component, a welding torch mounted on the robotic arm, and a worktable for holding welding materials; and a laser vision sensor and a positioner disposed on the positioning component.

[0007] The positioning component includes an adjustment component and a fixing component.

[0008] Furthermore, the adjustment component is internally equipped with a locking mechanism, which includes an elastic element, a first connecting post, a first locking block, and a second locking block. The positioner is linked to the locking mechanism. By pressing the positioner, the first connecting post can be driven to squeeze the elastic element, thereby releasing the engagement and locking of the first locking block and the second locking block, so as to realize the rapid adjustment of the attitude of the laser vision sensor.

[0009] Preferably, the fixing component is used to detachably fix the adjusting component to the robotic arm. The fixing component includes a first fixing plate fixed to the robotic arm and a second fixing plate that carries the adjusting component. The first fixing plate and the second fixing plate are connected by a buckle and a third locking block.

[0010] Preferably, as a specific fixing method, the first fixing plate is fixed to the robotic arm by a first bolt.

[0011] Preferably, the fixing component further includes a handle, which is hinged to the first fixing plate via a second connecting post as a pivot, and is used to drive the buckle to lock or release.

[0012] Preferably, the adjustment assembly further includes a housing, in which the elastic element, the first connecting post, the first locking block, and the second locking block are all housed.

[0013] Preferably, the workbench is supported by a support column, and the workbench is also provided with a workpiece clamping mechanism, which includes a third fixing plate fixed to the workbench by a second bolt.

[0014] Preferably, as a further limitation of the workpiece clamping mechanism, it also includes a second fixing block fixed to the third fixing plate, and a first fixing block and nut for cooperating to lock the welding material.

[0015] Preferably, the workbench is also provided with an auxiliary clamping mechanism consisting of a handrail, a third fixing block and a connecting block, wherein the handrail is used to drive the third fixing block and the connecting block to move.

[0016] Preferably, the connecting block and the second fixed block are movably connected by a third connecting post.

[0017] This utility model has the following beneficial effects: 1. In this utility model, by setting a laser vision sensor as the positioning core, the problem of inaccurate positioning or failure caused by arc light and mirror reflection interference when ordinary cameras face mirror welds in the prior art is solved, and the effect of strong anti-interference ability and high positioning accuracy is achieved.

[0018] 2. This utility model solves the problems of complex angle adjustment structure and inconvenient operation of some existing positioning devices by designing a locking mechanism that uses a press positioner to drive the card block to separate and automatically engages and resets after being released. It achieves the effect of fast and intuitive adjustment process and stable and reliable locking state. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural schematic diagram of a multi-degree-of-freedom mirror weld positioning and execution device for a welding robot proposed in this utility model; Figure 2 for Figure 1 Enlarged structural diagram at point A; Figure 3 This is a schematic diagram of the outer shell structure of a multi-degree-of-freedom mirror weld positioning actuator for a welding robot proposed in this utility model; Figure 4 This is a schematic diagram of the buckle structure of a multi-degree-of-freedom mirror weld positioning actuator for a welding robot proposed in this utility model.

[0020] Legend: 1. Adjustment component; 101. Housing; 102. Elastic element; 103. First locking block; 104. Second locking block; 105. First connecting column; 106. Positioner; 107. Laser vision sensor; 2. Fixing component; 201. Second connecting column; 202. Handle; 203. First bolt; 204. First fixing plate; 205. Buckle; 206. Third locking block; 207. Second fixing plate; 3. Welding torch; 4. Robotic arm; 5. Nut; 6. First fixing block; 7. Third connecting column; 8. Second bolt; 9. Second fixing block; 10. Third fixing plate; 11. Third fixing block; 12. Handrail; 13. Welding material; 14. Connecting block; 15. Support column; 16. Workbench. Detailed Implementation

[0021] 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.

[0022] Please refer to Figures 1 to 4 This utility model provides a multi-degree-of-freedom mirror weld positioning execution device for welding robots, which aims to solve the problems of low positioning accuracy caused by reflection when the visual positioning device of welding robots is used to process mirror materials, and the cumbersome installation and adjustment process of the positioning device.

[0023] like Figure 1 As shown, a multi-degree-of-freedom mirror weld positioning execution device for a welding robot includes a worktable 16 and a robotic arm 4 disposed above the worktable 16. The worktable 16 is used to hold welding material 13 and is supported by a support column 15. A welding torch 3 and a positioning component are fixedly connected to the robotic arm 4. The positioning component includes an adjustment component 1 and a fixing component 2. The function of the fixing component 2 is to detachably install the adjustment component 1 to the robotic arm 4.

[0024] Please refer to the following carefully. Figure 1 , Figure 2 and Figure 3 The adjustment assembly 1 has a housing 101. A laser vision sensor 107 is fixedly connected to the front end of the positioner 106. The positioner 106 is rotatably mounted through the housing 101. Inside the housing 101, a locking mechanism for locking and unlocking the rotation of the positioner 106 is provided. The locking mechanism includes an elastic element 102, a first connecting post 105, a first locking block 103, and a second locking block 104. The first connecting post 105 is fixed to the positioner 106 and is linked to the positioner 106. The two ends of the elastic element 102 abut against the inner wall of the housing 101 and the... The outer wall of the first locking block 103 and the second locking block 104 are fixed to the first connecting post 105. In the natural state, the elastic element 102 pushes the first connecting post 105, so that the second locking block 104 and the first locking block 103 engage with each other to lock the angle of the locator 106. When adjustment is required, pressing the locator 106 will drive the first connecting post 105 to move axially and squeeze the elastic element 102, so that the second locking block 104 and the first locking block 103 separate from each other. At this time, the locator 106 can rotate freely to adjust the shooting posture of the laser vision sensor 107.

[0025] Please refer to the following carefully. Figure 1 and Figure 4The quick-release structure of the fixed component 2 is described in detail below. The fixed component 2 includes a first fixed plate 204 and a second fixed plate 207. The first fixed plate 204 is fixedly connected to the robotic arm 4 by a first bolt 203. The second fixed plate 207 fixes the load-bearing adjustment component 1. A handle 202 is rotatably connected to the first fixed plate 204. The handle 202 is hinged to the first fixed plate 204 via a second connecting post 201 as a pivot. The first fixed plate 204 is also provided with a buckle 205 that is linked to the handle 202. A third locking block 206 is fixed on the second fixed plate 207. By moving the handle 202, the buckle 205 can be driven to quickly lock or release the third locking block 206. This combination of lever and buckle 205 ensures that the adjustment component 1 can be easily and quickly installed or removed from the robotic arm 4.

[0026] Working principle: Before welding, the welding material 13 is placed on the workbench 16. The handle 12 is operated, which drives the third fixing block 11 and the connecting block 14 to move. Together with the clamping mechanism composed of the first fixing block 6, nut 5, third connecting column 7, second fixing block 9, and third fixing plate 10 fixed to the workbench 16 by the second bolt 8, the welding material 13 is firmly clamped. Then, the first fixing plate 204 of the fixing component 2 is fixedly connected to the robotic arm 4 by the first bolt 203. The second fixing plate 207 carrying the adjusting component 1 is then brought close to the first fixing plate 204. The handle 202 is turned, and the handle 202 rotates around the second connecting column 201, driving the buckle 205 to lock onto the third locking block 206, completing the quick installation of the positioning component. When aligning the weld seam, the positioner is pressed. 106. Positioner 106 drives the first connecting column 105 to move axially and squeezes the elastic element 102, so that the second locking block 104 fixed to the first connecting column 105 and the first locking block 103 fixed to the outer shell 101 are separated and unlocked. At this time, positioner 106 can be rotated freely to adjust the detection angle of laser vision sensor 107 so that it is aligned with the weld seam on welding material 13. After adjustment, positioner 106 is released, elastic element 102 resets and pushes the first connecting column 105 so that the first locking block 103 and the second locking block 104 re-engage to lock the current position. After positioning, laser vision sensor 107 collects weld seam position information and transmits it to the control system of robotic arm 4. The control system guides welding torch 3 to perform precise welding along the weld seam. The entire worktable 16 is stably supported by support column 15.

[0027] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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 multi-degree-of-freedom mirror weld positioning and execution device for a welding robot, comprising a robotic arm (4), a positioning assembly mounted on the robotic arm (4), a welding torch (3), and a worktable (16) for holding welding materials (13), characterized in that, The positioning component includes an adjustment component (1) and a fixing component (2); The adjustment assembly (1) is provided with a laser vision sensor (107) and a positioner (106) for adjusting the attitude of the laser vision sensor (107). The adjustment component (1) is also provided with a locking mechanism that is linked to the positioner (106). The locking mechanism includes an elastic element (102), a first connecting post (105), a first locking block (103), and a second locking block (104), which are used to release the rotation lock of the positioner (106) by squeezing the elastic element (102) through the first connecting post (105) when the positioner (106) is pressed.

2. The multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 1, characterized in that: The fixing component (2) is used to detachably fix the adjusting component (1) to the robotic arm (4). The fixing component (2) includes a first fixing plate (204) fixed to the robotic arm (4) and a second fixing plate (207) carrying the adjusting component (1). The first fixing plate (204) and the second fixing plate (207) are connected by a buckle (205) and a third locking block (206).

3. The multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 2, characterized in that: The first fixing plate (204) is fixed to the robotic arm (4) by the first bolt (203).

4. The multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 2, characterized in that: The fixing component (2) also includes a handle (202), which is hinged to the first fixing plate (204) via a second connecting post (201) as a pivot and is used to drive the buckle (205).

5. The multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 1, characterized in that: The adjustment assembly (1) also includes a housing (101), in which the elastic element (102), the first connecting post (105), the first locking block (103), and the second locking block (104) are all housed.

6. The multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 1, characterized in that: The workbench (16) is supported by a support column (15), and the workbench (16) is provided with a third fixing plate (10) fixed by a second bolt (8).

7. The multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 6, characterized in that: The workbench (16) is also provided with a second fixing block (9) fixed to the third fixing plate (10), and a first fixing block (6) and a nut (5) for locking the welding material (13).

8. The multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 7, characterized in that: The workbench (16) is also provided with an auxiliary clamping mechanism consisting of a handrail (12), a third fixing block (11) and a connecting block (14). The handrail (12) is used to drive the third fixing block (11) and the connecting block (14) to move.

9. A multi-degree-of-freedom mirror weld positioning actuator for a welding robot according to claim 8, characterized in that: The connecting block (14) and the second fixing block (9) are movably connected by the third connecting post (7).

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