Welding robot capable of automatically identifying and tracking welding line

Abstract

The invention belongs to the technical field of robots, and provides a welding robot capable of automatically identifying and tracking a welding line. The welding robot comprises a walking vehicle, a horizontal box body, a vertical box body, a horizontal and vertical tracking execution mechanism, a front vision sensor, a rear vision sensor, a welding gun mechanism and a computer control system; the horizontal box body and the vertical box body are arranged on the walking vehicle in a rear and front manner, the horizontal and vertical tracking execution mechanism is connected with a connecting plate and is fixedly arranged on the upper surface of the walking vehicle, the front vision sensor is mounted on the front side of the vertical box body, and a computer can be connected with the front vision sensor, the rear vision sensor, the walking vehicle and the horizontal and vertical tracking execution mechanism through cables, wherein the front vision sensor and the rear vision sensor can obtain the geometrical shape and the position information of the welding line. According to the welding robot, the geometrical shape of the welding line can be automatically identified, the pipeline welding bead number, the layer number and the tracking motion of the walking vehicle can be automatically planned through the computer, and stability and optimization of the welding quality can be ensured.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a welding robot that can automatically identify and track welding seams. Background technique [0002] With the continuous development of the manufacturing industry, more and more welding robot systems have been put into use, and the development level of welding automation has also been greatly improved, especially in the fields of automobile production and construction machinery. However, for box-shaped steel structures The welding at the installation site is still mainly based on traditional manual welding, so the stability of the welding quality is difficult to meet the manufacturing requirements, and in the steel structure installation site involving offshore oil engineering equipment, steel structure houses, steel structure bridges and other fields When welding, high-altitude operations are often required, and the welding conditions are harsh, which even threatens...

AI Technical Summary

Problems solved by technology

[0002] With the continuous development of the manufacturing industry, more and more welding robot systems have been put into use, and the development level of welding automation has also been greatly improved, especially in the fields of automobile production and construction machinery. However, for box-shaped steel structures The welding at the installation site is still mainly based on traditional manual welding, so the stability of the welding quality is difficult to meet the manufacturing requirements, and in the steel structure installation site involving offshore oil engineering equipment, steel structure houses, steel structure bridges and other fields When welding, it is often necessary to carry out high-altitude operations, and the welding conditions are harsh, which even threatens the safety of welding workers

At the same time, the welding defects produced by manual welding have seriously affected the service life of some steel structure buildings, and buried hidden dangers for the occurrence of some accidents.

[0003] The main disadvantages of traditional manual welding are: two welders are required to carry out symmetrical welding, and the welding voltage and current, welding speed and number of welding layers of the two welders should be consistent during welding, which requires high coordination of welding workers; and On-site welding conditions are harsh, and there are many factors affecting welding quality, so manual welding is difficult to guarantee welding quality

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