Vehicle-mounted parallel welding robot system

Abstract

The invention provides a vehicle-mounted parallel welding robot system. The system comprises a vehicle body, a stand column, a parallel welding robot and a parallel robot moving platform, wherein the bottom of the vehicle body is provided with wheels, and a first motor, a controller and a driver are mounted in the vehicle body; the stand column is fixed to the vehicle body and provided with the parallel welding robot, and serves as a base body of the parallel welding robot; a transmission device and a second motor are mounted in the stand column; the parallel welding robot comprises a first three-rod branch chain, a second three-rod branch chain, a third three-rod branch chain, a fourth three-rod branch chain and the parallel robot moving platform; the first three-rod branch chain, the second three-rod branch chain, the third three-rod branch chain and the fourth three-rod branch chain are connected in parallel; the parallel welding robot is in linkage connection with the first three-rod branch chain, the second three-rod branch chain, the third three-rod branch chain and the fourth three-rod branch chain and used for mounting of a welding gun; each three-rod branch chain is provided with a joint sensor and is connected with the second motor through the transmission device; the joint sensors are connected with the input end of the controller; the driver is connected with the output end of the controller and used for driving the wheels to move; the three-rod branch chains drive the parallel robot moving platform to move in the plane perpendicular to the advancing direction of the vehicle body.

Description

technical field [0001] The invention belongs to the field of automatic welding equipment, and in particular relates to an automatic vehicle-mounted parallel welding robot system. Background technique [0002] The welding trolley is a common welding equipment in the welding field. At present, the welding trolley is the main product on the market. When welding, the trolley can walk along the guide rail or move forward in a straight line. In the plane perpendicular to the forward direction, two mutually perpendicular mobile sub-ends are generally installed on the welding trolley to install welding torches. Therefore, the welding torch on the welding trolley can theoretically reach any position in the three-dimensional space, but the welding angle cannot be adjusted automatically. For the welding trolley equipped with an arc swinger at the end of the moving pair, the angle of the welding torch can be adjusted slightly, but generally no more than 10° (±5°). Therefore, these w...

AI Technical Summary

Problems solved by technology

Therefore, these welding trolleys generally can only weld in a plane, and it is difficult to perform tasks such as vertical welding and overhead welding at the same time.

This greatly limits the flexibility of the trolley welding operation, cannot complete the welding task where the weld seam is a complex curve in three-dimensional space, and cannot fully utilize the kinematic performance of the welding trolley

[0003] In addition to welding flexibility, another disadvantage of this type of welding trolley is the heavy mass and high inertia of the moving parts, which increases the difficulty of maintaining the balance of the trolley during the welding process and the difficulty of controlling the accuracy of welding spots

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