An autonomous mobile twin wire welding robot system for medium and heavy plate welding

Abstract

The invention belongs to the technical field of the welding of a robot, particularly relates to an autonomous movable type double-wire welding robot system for welding medium plates, comprising a robot body, a control system and a double-wire welding system, wherein 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 double-wire welding system comprises a double-wire welding gun, a double-wire welding power source, a double-wire wire feeder, and a protecting gas and welding cooling system. The system has the advantage that welded joints can be autonomously identified and tracked. The system has the functions of long-distance welding parameter setting and on-line adjustment and can autonomously identifying the center point of a groove; a multi-free degree cradle head can be adopted, so that the environment monitoring of a workpiece can be realized, the macroscopic operation of an initial point before welding can be completed, and the intelligent welding can be realized; and a molten pool monitoring sensor can be adopted, so that the posture adjustment of the double-wire welding gun can be realized, and the molten pool in the process of welding can be monitored, i.e. the microscopic autonomy can be realized.

Description

technical field [0001] The invention belongs to the technical field of robot welding, in particular to an autonomous mobile twin-wire welding robot system for welding medium and thick plates. Background technique [0002] For the welding of medium and thick plates, twin-wire welding can improve welding efficiency and welding quality, but the structure of large medium and thick plates is no longer suitable for manual operation by welders, and it is necessary to develop a robotic system for autonomous mobile welding. Twin-wire welding is suitable for welding large structural thick plates, and it can also reduce welding passes when applied to multi-layer and multi-pass welding. For large-scale structures, the structure and weight of the components are not suitable for rotation or rotation. Most of the existing special automatic welding trolleys need to lay tracks. The flexible range of the tracks is limited, and the laying process is cumbersome. Type manipulator, the present i...

AI Technical Summary

Problems solved by technology

[0009] In order to overcome the problem that the existing twin-wire welding robot cannot have both motion flexibility and adsorption capacity, it is now specially proposed that it can meet the needs of medium and thick plate welding, has both flexibility and adsorption capacity, and is used for high-efficiency and high-quality intelligent welding. Autonomous Mobile Twin Wire Welding Robot System for Medium and Heavy Plate Welding

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