Master-Slave Wall Climbing Welding Robot System for Large Steel Structures

Abstract

The invention relates to a master-slave wall-climbing welding robot system suitable for a large steel structural part. A master wall-climbing welding robot carries a welding gun and tracks a welding seam to move; a slave wall-climbing relay wire feeding robot loads welding related equipment, such as a wire feeder and a wire reel, bears cable drag force and follows the master wall-climbing weldingrobot to move to cooperate to complete field installing and welding operation; the overall weight of the master wall-climbing welding robot is relatively low and moves flexibly, which is beneficial toquick adjustment of robot positions and welding gun postures; the slave wall-climbing relay wire feeding robot is high in load capacity and relatively low in control precision requirement, and can feed a wire for the master wall-climbing welding robot in short distance for welding; the wire is output stably; the welding quality is easy to ensure; both the master wall-climbing welding robot and the slave wall-climbing relay wire feeding robot adopt a permanent magnet gap adsorption and wheel type motion mechanism; an adsorption mechanism is separated from a motion mechanism; the flexibility ofrobot motion is further improved; and the motion control precision of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of wall-climbing robots, in particular to a master-slave wall-climbing welding robot system suitable for large steel structures. Background technique [0002] Large steel structural parts such as water diversion penstocks of hydropower stations are manufactured and installed by welding. Due to the large size of large steel structural parts and limited transportation conditions, they need to be transported to the construction site for on-site assembly welding after forming a single joint by round welding. For a long time, the traditional low-efficiency, high-energy-consumption, simple and heavy manual arc welding has been used for the welding of large-scale steel structures such as water diversion penstocks of hydropower stations. The on-site assembly and welding works are large in quantity, highly labor-intensive, and highly dangerous in operation. With the intensive construction of large and giant hydropow...

AI Technical Summary

Problems solved by technology

[0003] The current wall-climbing welding robot is generally equipped with a welding torch and a clamping device, as well as a wire feeder, welding wire and welding cable. The load requirements for the wall-climbing robot are high, resulting in increased adsorption force and increased self-weight to make the robot flexible. weakened, which is not conducive to the rapid adjustment of robot posture and welding torch posture, and the welding quality is not easy to guarantee

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