An autonomous mobile robot system for welding in confined spaces

Abstract

An autonomous mobile robot system for welding in narrow space comprises a mobile robot body, a control system and an MIG (metal-inert gas) / MAG (metal active-gas) welding system, wherein the mobile robot body comprises a robot moving platform and a welding torch adjusting device; the control system comprises a sensing system and a robot control box; the MIG / MAG welding system comprises a welding gun, a welding power source, a wire feeder and protecting gas; and the mobile robot body, the control system and the MIG / MAG welding system are connected to one another through cables. The autonomous mobile robot system for welding in the narrow space has the advantages that the robot is small in structure, a three-wheel differential driving wheel type moving mode is adopted, the robot system can autonomously and flexibly move in the narrow space, can automatically identify weld joints and then implements welding operation, and the system is easy to operate and convenient to use, and is particularly suitable for automatic welding of a steel structural component in the narrow space.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an autonomous mobile robot system for welding structural parts in narrow spaces. Background technique [0002] As the requirements for welding quality and welding efficiency are getting higher and higher, the cost of manual welding is increasing, which makes the demand and use of welding robots more and more extensive. [0003] Due to the welding of narrow spaces, such as the welding inside the cabin and container, the working space is narrow, the body of the welder cannot be stretched freely, and the working conditions are very bad. In addition, most of these structures are sealed at the top, and the light is relatively dim, so the smoke and dust during welding are difficult. Discharge, the physical injury to the welder is very big, even cause the characteristics such as death. [0004] For existing industrial robots, the arm length is generally 1.5-2.0m, and since t...

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Problems solved by technology

[0003] Due to the welding of narrow spaces, such as the welding inside the cabin and container, the working space is narrow, the body of the welder cannot be stretched freely, and the working conditions are very bad. In addition, most of these structures are sealed at the top, and the light is relatively dim, so the smoke and dust during welding are difficult. Discharge, the welding workers are very harmful to the body, and even lead to death and other characteristics

[0004] For the existing industrial robots, the arm length is generally 1.5-2.0m, and the base cannot be moved, so large-sized workpieces cannot be welded

For the gantry welding robot, although the welding size is large, it is limited to the space of the workshop

The above-mentioned structures are generally large in size, and most of them need to be welded outside the workshop.

In addition, the welding robots currently used in the industry need to use programming or teaching methods to work. It is difficult to adapt to such a large workpiece that needs to be welded on the construction site and on site.

Although many mobile welding robots have been developed at home and abroad to solve the problem of automatic welding of large workpieces at construction sites, these robots are aimed at welding operations in large open areas. The systems are complex, inconvenient to use and move, and difficult to adapt to narrow spaces. welding automation requirements

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