Autonomous mobile robot system for plasma metal-inert-gas (MIG) composite welding

Abstract

The invention belongs to the technical field of welding of robots, and in particular relates to an autonomous mobile robot system for plasma metal-inert-gas (MIG) composite welding. The system comprises a robot body, a control system and a plasma MIG composite 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 plasma MIG composite welding system comprises a digitized MIG welding power supply, a plasma power supply, a wire feeding machine, shielding gas, a plasma welding gun and an MIG welding gun. The system has the advantages that a plasma MIG composite welding robot can adapt to an all-position welding mode of a large-sized steel structure; due to the adoption of an adsorption type crawling mechanism, the system can flexibly move; and due to the adoption of a laser welding seam tracking sensor and the arrangement of a macro-environment monitoring and molten pool monitoring system, the system can meet swinging requirements, control requirements and movement requirements in the all-position welding process of large thick plates.

Description

technical field [0001] The invention belongs to the technical field of robot welding, in particular to an autonomous mobile robot system for plasma MIG composite welding. Background technique [0002] MIG welding refers to melting inert gas shielded arc welding. This welding method uses the burning arc between the continuously fed welding wire and the workpiece as the heat source, and the gas ejected from the torch nozzle protects the arc for welding. The shielding gases commonly used in shielded arc welding are argon, helium, carbon dioxide or a mixture of these. When argon or helium is used as the shielding gas, it is called MIG welding (internationally known as MIG welding); the main advantage of MIG welding is that it can be conveniently welded in various positions, and at the same time It also has the advantages of faster welding speed and higher deposition rate. [0003] For the welding of large structures, plasma MIG hybrid welding can improve welding efficiency and...

AI Technical Summary

Problems solved by technology

[0008] In order to overcome the problem that the existing autonomous mobile robot used for plasma MIG composite welding cannot have both motion flexibility and adsorption capacity, it is now specially proposed to meet the vertical welding of large steel structures, with both flexibility and adsorption capacity, high efficiency and high efficiency. An Autonomous Mobile Robotic System for Plasma MIG Hybrid Welding by Quality Smart Welding

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