Single-side welding and double-side forming welding robot
A welding robot, single-sided welding and double-sided technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problem of low pass rate, high technical requirements for workers, and the inability to achieve target weld bead tracking and identification, etc. Solve problems, achieve stable welding quality, avoid component scrapping, and improve welding efficiency
Pending Publication Date: 2020-09-08
江苏瑞伯特智能科技股份有限公司
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Problems solved by technology
[0003] The purpose of the present invention is to solve the problems that the existing welding robot cannot realize the tracking and identification of the target weld bead, and when the single-sided welding and double-sided forming are performed manually, the technical requirements for workers are high and the pass rate is low. robot
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[0022] The technical solution of the present invention will be described clearly and completely through the following embodiments. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0023] Such as Figure 1 to Figure 7 As shown, the single-sided welding and double-sided forming welding robot of the present invention includes a base assembly 1, a three-dimensional moving mechanism, a laser vision tracking sensor 5, a welding torch clamping mechanism 6, a welding torch swing mechanism 7 and a controller.
[0024] Base assembly 1 comprises base 11, fixed side wheel 12 and adjustable side wheel 13, is provided with the bottom groove greater than robot rail 8 widths below base 11, and fixed side wheel 12 is asse...
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The invention discloses a single-side welding and double-side forming welding robot. The single-side welding and double-side forming welding robot comprises a base assembly, a three-dimensional movingmechanism, a laser visual tracking sensor, a welding gun clamping mechanism, a welding gun swinging mechanism and a controller, wherein the three-dimensional moving mechanism is arranged on the baseassembly; the three-dimensional moving mechanism comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism; the welding gun clamping mechanism is fixedly connectedto the welding gun swinging mechanism; the laser visual tracking sensor is arranged beside the welding gun swinging mechanism; the laser visual tracking sensor scans a weld bead in real time to obtainweld bead data of a weld bead track, a groove gap, groove width and groove depth, and transmits the data to the controller in real time; and the controller calls welding speed, welding gun swing parameters, welding current, voltage and multi-layer multi-path welding process parameter suitable for a current working condition according to current weld bead data, and automatically regulates the Y-axis moving mechanism and the Z-axis moving mechanism, so that a welding gun automatically aligns to the center of the weld bead to weld.
Description
technical field [0001] The invention relates to the field of automatic welding equipment, in particular to a single-side welding and double-side forming welding robot. Background technique [0002] At present, in the construction of nuclear power plants, nuclear island containment shells have begun to be used in large quantities. SC steel-concrete composite structures and large-scale steel structure parts have a large number of long-distance welds during on-site construction, ranging from 10 meters to 120 meters. Large-scale components often have obstacles such as welding studs and embedded steel bars on the back of the component. At the same time, in order to meet the RT inspection level I during welding, personnel cannot enter the back for welding or cleaning operations, and manual one-sided welding and double-sided forming operations must be used. , The welding efficiency is poor, and the first pass rate is low. The existing welding construction method has low work effic...
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IPC IPC(8): B23K37/02
CPCB23K37/0211B23K37/0247B23K37/0252B23K37/0258
Inventor 陈玉泉刘扬
Owner 江苏瑞伯特智能科技股份有限公司