Intelligent robot welding device using large-scale workpiece

Abstract

The invention discloses a large-sized workpiece welded intelligent robot device, relates to robot technology, in particular to the robot device based on visual control technology. The device consists of a robot body, a sensing system, a robot controller and a welding auxiliary mechanism. The welded robot is provided with nine moving shafts, including three macrographic moving translational movingshafts, three microscopic moving translational moving shafts and three rotating shafts. The robot body comprises a robot frame and a robot head which is arranged on a transverse arm of the robot frame, and the robot frame consists of the three macrographic moving translational moving shafts, namely a horizontal lead rail, an upright post and the transverse arm. The robot head consists of the three microscopic moving translational moving shafts, the three rotating shafts and a welding gun. The robot frame provides the large-scale three-dimensional movement of the robot; the precision of macrographic moving movement is compensated by the microscopic moving mechanisms of the robot head which also provides rotating freedom of motion. The robot device can meet the movement requirements of large scale and precise positioning for the welding operation of large-sized workpieces. Through the visual sensing technology and intelligent visual controlling technology, the device can improve the automatic welding quality and efficiency of the welded robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and is a welding robot device with visual control function. Specifically, it is an auxiliary welding device that collects and processes welding process information through visual sensing, integrates welding power supply, welding torch, wire feeding mechanism, etc., and can complete A welding robot device for automatic tracking welding of complex weld seams of large workpieces. technical background [0002] A welding robot is an automated device that can complete welding operations. The welding robot consists of a plurality of joints to form an operating arm or other forms of motion mechanisms. The end of the mechanism holds welding auxiliary devices such as welding torches, and completes the weld trajectory movement required for workpiece welding in the welding operation space. At present, welding robots generally use general-purpose six-joint robotic arms, or special welding manipulators for spe...

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Problems solved by technology

In terms of welding robot control technology, at present, manual teaching or offline programming is generally used to plan the welding operation of the robot (Wang Kehong, Liu Yong. Research on the geometric modeling of typical workpieces of solitary welding robots. Mechanical Manufacturing and Automation, 2002, ( 4): 15-18; Wang Xiaopeng. Automatic generation of G codes for CNC machining of orthogonal intersecting line grooves. Mechanical Engineering and Automation, 2006, (4): 161-162), the welding process is simply repeated presets action, the robot lacks flexibility and adaptability

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