The invention relates to the technical field of ship manufacturing, in particular to a multi-foot wall-climbing welding robot based on monocular and binocular vision, which comprises a welding mechanism and a movement mechanism, the welding mechanism comprises a mechanical arm, a welding gun, an anti-splashing baffle plate, a monocular camera and a binocular camera, and the welding gun, the anti-splashing baffle plate, the monocular camera and the binocular camera are all located at the tail end of the mechanical arm; the anti-splashing baffle is arranged between the monocular camera and the welding gun, and the binocular camera is arranged on one side of the monocular camera and is far away from the anti-splashing baffle; the movement mechanism comprises a chassis, six groups of movement arms and electromagnetic chucks, the six groups of movement arms are uniformly distributed around the chassis, and the tail end of each group of movement arms is connected with one electromagnetic chuck through a revolute pair. Through attraction and release of the electromagnetic chuck, the welding robot can be stably attracted and flexibly moved on different surfaces, the monocular camera and the binocular camera collect to-be-recognized workpiece images and weld joint images, through interactive control with the upper computer, the mechanical arm controls the welding gun to achieve autonomous welding operation, and the defects of manual welding are overcome.
本发明涉及船舶制作技术领域,具体涉及一种基于单双目视觉多足爬墙焊接机器人,包括焊接机构和运动机构,焊接结构包括机械臂、焊枪、防飞溅挡板、单目相机和双目相机,焊枪、防飞溅挡板、单目相机和双目相机均位于所述机械臂的末端,防飞溅挡板设置在单目相机与焊枪之间,双目相机设置在单目相机的一侧并远离防飞溅挡板;运动机构包括底盘、运动臂和电磁吸盘,六组运动臂均匀分布在底盘四周,每组运动臂的末端通过转动副连接一个电磁吸盘。通过电磁吸盘吸合和释放,让焊接机器人在不同表面上的稳定吸附和灵活移动,单目和双目相机采集待识别的工件图像和焊缝图像,通过与上位机交互控制,机械臂控制焊枪实现自主焊接作业,避免人工焊接的不足。
Multi-foot wall-climbing welding robot based on monocular vision and binocular vision
基于单双目视觉多足爬墙焊接机器人
2025-03-11
Patent
Electronic Resource
Chinese