Autonomous mobile dithering hot wire tungsten-inert-gas (TIG) welding robot system for welding large-sized precision equipment

Abstract

The invention belongs to the technical field of welding of robots, and in particular relates to an autonomous mobile dithering hot wire tungsten-inert-gas (TIG) welding robot system for welding large-sized precision equipment. The system comprises a robot body, a control system and a dithering hot wire TIG welding system, wherein the robot body comprises a crawling mechanism and an operating mechanism; the control system comprises a sensing system, a robot body control box and a robot master control system; and the dithering hot wire TIG welding system comprises a dithering hot wire TIG welding gun, a dithering hot wire TIG welding power supply, a wire feeding machine, shielding gas and a weld cooling system. The system has the advantages that a contact type magnet-wheel adsorption and non-contact type clearance adsorption composite mode and a three-wheel full-drive wheel type movement mode are systematically used by the crawling mechanism, so that a robot can autonomously and flexibly move at all positions on the surface of a large-sized steel structure, can be reliably adsorbed and can perform dithering hot wire TIG all-position welding operation, and the system is high in comprehensive performance.

Description

technical field [0001] The invention belongs to the technical field of robot welding, and specifically relates to an autonomously moving shaking hot wire TIG welding robot system used for welding large-scale precision equipment. Background technique [0002] TIG refers to the inert gas shielded arc welding that uses pure tungsten or activated tungsten (thoriated tungsten, cerium tungsten, zirconium tungsten, lanthanum tungsten) as the non-melting electrode. For the welding of precision equipment, shaking hot wire TIG welding can improve welding efficiency and welding quality, but the structure of large precision equipment is no longer suitable for welders to operate manually, and it is necessary to develop a robot system for autonomous mobile welding. Jittering hot wire TIG welding is suitable for welding large-scale structural thick plates, and can penetrate 25mm at one time. It can also reduce welding passes when it is applied to multi-layer and multi-pass welding. For la...

AI Technical Summary

Problems solved by technology

[0008] In order to overcome the problem that the existing jittering hot wire TIG robot can not have both motion flexibility and adsorption capacity, it is now specially proposed to meet the needs of large-scale precision equipment welding, with both flexibility and adsorption capacity, efficient and high-quality intelligent welding. Autonomous mobile shaking hot wire TIG welding robot system for welding large precision equipment

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