Auxiliary welding device of crawling welding robot, control method and welding method of auxiliary welding device

Abstract

The invention relates to an auxiliary welding device of a crawling welding robot, a control method and a welding method of the auxiliary welding device. The welding device comprises a crank arm type lifting mechanism assembly for controlling an operation room to flexibly move to the surface and the periphery of any operation position of a large component, the crawling welding robot is arranged in the operation room, and whole machine electric control equipment and peripheral equipment are arranged in the operation room; and the crank arm type lifting mechanism assembly comprises a combined general control operation table and a crank arm lifting mechanism which are arranged on a carrying tool. The crank arm lifting mechanism is rigidly connected with the tail end operation room by adopting a three-section hydraulic folding type working arm; the crank arm lifting mechanism comprises a welding operation arm pivoted to the combined general control operation table through a first pivot and a first crank arm pivoted to the end of one end of the welding operation arm through a second pivot; and each crank arm is driven by a cylinder.

Description

technical field [0001] The invention belongs to the technical field of intelligent welding robots, and in particular relates to an auxiliary welding device for an all-position crawling welding robot, a control method and a welding method thereof. The present invention is a special engineering operation equipment specially designed for large-scale components (such as energy and chemical storage tanks, ships, and offshore engineering platform manufacturing) to realize rapid deployment and implementation of operations on large-scale curved surfaces. The system integration has path planning, automatic visual recognition of welds, tracking, The all-position crawling welding robot equipment with control function and the articulating arm lifting device that can overcome obstacles and move flexibly in a wide range. Background technique [0002] Marine engineering and petrochemical equipment are characterized by "heavy, large, and complex structures". Many manufacturing links are sti...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a series of problems in order to overcome the insufficient load of the existing crawling robot, limited space for carrying equipment, difficulty in batch industrial application and low implementation efficiency, and solve the problems of rapid deployment of crawling welding robots on site and limited robot load. However, the safety rope layout of the crawling welding robot has not yet been determined. It is considered to be connected to the operation room in priority, and the connection to the construction workpiece is considered secondly. It is used for auxiliary welding devices and welding of crawling welding robots in all positions. method

Images