Electro-gas vertical welding automatic moving type robot system

Abstract

The invention belongs to the technical field of robots and particularly relates to an electro-gas vertical welding automatic moving type robot system which is used for electro-gas vertical welding of large steel structures. The electro-gas vertical welding automatic moving type robot system comprises a robot body, a control system and an electro-gas vertical welding system. The robot body comprises a crawling mechanism and an operation mechanism, the control system comprises a sensing system, a robot body control box and a robot master control system, and the electro-gas vertical welding system comprises an electro-gas vertical welding gun, a welding power source, a wire feeding machine, shielding gas and a welding cooling system. The electro-gas vertical welding automatic moving type robot system has the advantages of adopting a control mode of 'macroscopic remote control and microscopic automation', utilizing a laser tracking sensor to automatically identify and track welding joints, and having functions of remotely arranging welding parameters and adjusting the welding parameters online; adopting a cradle head with multiple degrees of freedom to achieve monitoring of workpiece environments and complete macroscopic operation of an initial point before welding; and having the function of macroscopic and microscopic welding monitoring and achieving intelligent welding.

Description

technical field [0001] The invention belongs to the technical field of robot welding, and specifically relates to a gas-electric vertical welding autonomous mobile robot system for large-scale steel structure gas-electric vertical welding. Background technique [0002] The welding of large steel structures is mainly vertical welding and horizontal welding. For the welding of the vertical welding position of large steel structures, due to the structure and weight of the parts themselves, it is not suitable for rotation or rotation. Manual welding is labor-intensive, dangerous and the welding quality cannot be guaranteed. There is an urgent need to realize welding automation. [0003] At present, the commonly used large-scale vertical welding automation equipment for steel structures is the track-type robot welding system. The flexibility is within a certain range and cannot adapt to the transformation of the weld form. Large-scale equipment is a single-piece and small-batch...

AI Technical Summary

Problems solved by technology

[0007] In order to overcome the problem that the existing gas-electric vertical welding autonomous mobile robot cannot have both motion flexibility and adsorption capacity, it is now specially proposed to meet the needs of large-scale steel structure vertical welding, with both flexibility and adsorption capacity, efficient and high-quality intelligent welding An autonomous mobile robot system for gas-electric vertical welding

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