Welding robot and welding method

A technology for welding robots and robot bodies, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of oversized mechanical arms, complex structures, unfavorable welding operations, etc., to improve welding efficiency and welding Accuracy, good welding ability, and the effect of expanding the scope of application

Inactive Publication Date: 2020-10-13
BEIJING BO TSING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the welding robot is mainly based on the welding robot arm, which reaches the welding position through the swing of the robot arm. However, the welding robot arm is difficult to move and has a complicated structure. It can only weld small structural devices. For large structural devices that cannot move Welding operations cannot be performed, and at the same time, for the inner wall welding of the object to be welded, for example, the inner wall of the steel storage tank and the inner arc surface of the pipeline, it is also not conducive to perform the welding operation due to the large volume of the robot arm

Method used

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  • Welding robot and welding method

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Embodiment 1

[0053] Figure 1A A structural block diagram of a welding robot provided in Embodiment 1 of the present invention, the welding robot includes: a welding execution module 11, a groove observation module 12 and a robot body 13; the welding execution module 11 and the groove observation module 12 are all located at the front end of the robot body 13;

[0054] The welding execution module 11 includes a welding torch 111, a position control unit 112 and an angle control unit 113; the welding torch 111 is used to perform a welding operation; the welding torch 111 is a part that specifically performs a welding operation during the welding process. The heat generated by high current and high voltage gathers at the terminal of the welding torch, melts the welding wire, and the melted welding wire penetrates into the part to be welded. After cooling, the objects to be welded are firmly connected into one. The position control unit is used to control the welding position of the welding t...

Embodiment 2

[0063] figure 2 It is a flowchart of a welding method provided in Embodiment 2 of the present invention. This embodiment is applicable to the welding operation performed by the welding robot in Embodiment 1. This method can be performed by the welding device in Embodiment 3 of the present invention. The device can be implemented by means of software and / or hardware, and integrated into the welding robot in Embodiment 1. The method specifically includes the following steps:

[0064] S210. When the target welding task is obtained, analyze the target welding task to obtain task information; wherein the task information includes target position point, target welding point, target welding angle and target welding trajectory.

[0065] The target position point is the position that the robot body of the welding robot needs to reach. By controlling the center point of the lower end surface of the robot body to reach the target position point, the mobile control operation of the robot...

Embodiment 3

[0075] image 3 It is a structural block diagram of a welding device provided in Embodiment 3 of the present invention. The device specifically includes: a welding task acquisition module 310, a position and attitude control module 320, an original information acquisition module 330, a welding torch control module 340, and a welding operation execution module 350 and a weld acquisition module 360 ​​.

[0076] The welding task acquisition module 310 is configured to analyze the target welding task to obtain task information when the target welding task is acquired; wherein, the task information includes target position points, target welding points, target welding angles and target welding trajectories ;

[0077] A position and attitude control module 320, configured to control the movement of the robot body to the target position point, and adjust the attitude of the robot body according to the attitude information recorded by the gyroscope;

[0078] The original information...

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Abstract

The embodiment of the invention discloses a welding robot. The welding robot comprises a welding execution module, a groove observation module and a robot body, wherein the welding execution module and the groove observation module are located at the front end of a robot body; the welding execution module comprises a welding gun, a position control unit and an angle control unit; and a laser scanning unit in the groove observation module is used for acquiring the groove data information through laser scanning, and a first shooting assembly is used for acquiring an original image of a groove before welding and an welding seam image of the welded groove. According to the welding robot, the mechanical welding operation is realized, the groove image information before and after welding is obtained through the groove observation module, and the welding efficiency and the welding precision are improved; and meanwhile, the robot body has the capability of moving on the surface of an object tobe welded, and has excellent welding capability for a large structural device which is difficult to move, and the application range of the welding robot is enlarged.

Description

technical field [0001] Embodiments of the present invention relate to robot technology and industrial welding technology, and in particular to a welding robot and a welding method. Background technique [0002] With the continuous advancement of science and technology, robot technology has developed rapidly. As an important branch of robot technology, welding robots are widely used in the field of industrial welding, which greatly improves the level of industrial production. [0003] In the prior art, the welding robot is mainly based on the welding robot arm, which reaches the welding position through the swing of the robot arm. However, the welding robot arm is difficult to move and has a complicated structure. It can only weld small structural devices. For large structural devices that cannot be moved Welding operations cannot be performed, and at the same time, for the inner wall welding of the object to be welded, for example, the inner wall of the steel storage tank an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00B23K37/02B25J9/16B25J11/00
CPCB23K37/00B23K37/0252B25J11/005B25J9/161B25J9/1664B25J9/1661B25J9/1679B25J9/1697
Inventor 冯消冰潘百蛙田伟
Owner BEIJING BO TSING TECH CO LTD
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