Autonomous mobile double-sided double-arc welding robot system

Abstract

The invention belongs to the technical field of robot welding, particularly an autonomous mobile double-sided double-arc welding robot system. The autonomous mobile double-sided double-arc welding robot system comprises robot bodies, a control system and a welding system; the robot bodies, the control system and the welding system are connected by cables; two robot bodies, two sets of robot body control boxes, two sets of sensing systems and two welding guns are provided; each two sets of corresponding equipment are symmetrically arranged; and the two robot bodies are respectively adsorbed at both sides of a workpiece to be welded. The autonomous mobile double-sided double-arc welding robot system has the advantages that a creeping device adopts a contact magnetic wheel adsorption and non-contact clearance adsorption composite mode and is of a three-wheel structure; all wheels are driving wheels; a redundancy control steering mode is adopted; the steering on a magnetic conducting wall surface is implemented by the differential velocity of two rear wheels and the controlled steering of the front wheel; the steering accuracy of a wall climbing robot is improved by accurately controlling the steering angle of the front wheel; the autonomous mobile double-sided double-arc welding robot system has good movement flexibility, can steer around the center of a vehicle body and has the minimum steering radius of 0; and a robot can be reliably adsorbed on the magnetic conducting wall surface and the free and flexible movement of the robot can be implemented.

Description

technical field [0001] The invention belongs to the technical field of robot welding, in particular to an autonomous mobile double-sided double-arc welding robot system. Background technique [0002] The double-sided double-arc welding process is for large thick-walled workpieces with symmetrical grooves and double-sided simultaneous welding. Compared with the traditional asymmetrical grooves of large and thick plates, there is no need to heat up the welding surface first, and preheat the welding surface before gouging. , carbon arc gouging, grinding, magnetic particle inspection and other intermediate construction processes, which greatly reduce the labor intensity of workers, significantly improve welding production efficiency, shorten the construction period, and reduce production costs. [0003] For example, the patent application number is CN200410082758.0, the application date is 2004-11-8, and the invention patent named "double-sided double-arc welding method" has a t...

AI Technical Summary

Problems solved by technology

[0007] To sum up, the existing robots either have good motion flexibility but poor load capacity, or have strong load capacity but poor motion flexibility, which fail to solve the contradiction between robot movement and adsorption, and the overall performance is not good.

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