Vehicle-mounted parallel welding robot system

Abstract

This case is a vehicle-mounted parallel welding robot system, including: a body with wheels at the bottom, and a first motor, a controller and a driver installed inside; a column, which is fixed on the body, on which a parallel welding robot is installed, and it is The base body of the parallel welding robot; the transmission device and the second motor are installed in it; the parallel welding robot includes the first three-bar branch chain, the second three-bar branch chain, the third three-bar branch chain and the parallel robot moving platform, It is linked with the first three-bar branch chain, the second three-bar branch chain, and the third three-bar branch chain, and is used to install the welding torch; wherein, each three-bar branch chain is provided with a joint sensor; each three-bar branch chain The chain is connected to the second motor through the transmission device, the joint sensor is connected to the input end of the controller, the driver is connected to the output end of the controller, and the driver drives the movement of the wheels; the three-bar branch chain drives the dynamic platform of the parallel robot to realize the forward direction of the parallel robot. Vertical plane movement.

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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