Intelligent welding robot and application of walking device in boom welding field

Abstract

The invention discloses application of an intelligent welding robot and a walking device in the cantilever crane welding field, the intelligent welding robot comprises a platform and a plurality of cantilever crane main chord members arranged below the platform, and further comprises two welding machines, the two welding machines are arranged on the upper end face of the platform, and the two sides of the lower end of the platform are each provided with a welding robot mechanism; a walking mechanism is arranged below the platform, a dust collection mechanism is arranged on the lower end face of the platform, by arranging the welding machine, the welding robot mechanism, the walking mechanism, a roller assembly and a gear assembly, automatic welding can be conducted on the crawler crane jib frame, the welding efficiency is improved, the labor intensity is reduced, and the welding quality is improved; influences on the industry caused by shortage of labor force of welders are relieved effectively, and the device is practical.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to application of an intelligent welding robot and a walking device in the field of boom welding. Background Art

[0002] Crawler crane is a boom-rotating crane that uses crawler tracks to move. The crawler tracks have a large ground contact area, good trafficability, strong adaptability, and can move with loads. They are suitable for hoisting operations in many occasions (wind power, petrochemical, subway, bridges, prefabricated buildings, etc.). With the development trend of large-scale equipment, intensive design, and modular construction, crawler cranes are becoming more and more widely used. The truss boom is the core component of the crawler crane, which is related to whether the hoisting work can be completed safely and efficiently.

[0003] In addition to the performance of the material itself, the quality of welding is directly related to the quality of the boom. Since the weld trajectory of the boom is almost entirely composed of spatial intersecting lines, this type of weld requires very high skills for the welder, and it takes a long time of study and practice to meet the welding requirements. At present, welding is done manually by experienced and skilled welders throughout the country and even around the world, which is labor-intensive, low-efficiency, poor product consistency, and inevitable fluctuations in product quality.

[0004] The existing welding method is manual welding by welders, which is labor-intensive, low in production efficiency, poor in product consistency, and relatively troublesome. Based on the above situation, a solution for the application of an intelligent welding robot and a walking device in the field of boom welding is proposed, which can automatically and quickly weld the truss boom of a crawler crane, so as to achieve the purpose of reducing labor intensity, improving work efficiency, and improving product quality. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent welding robot and a walking device for application in the field of boom welding to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An intelligent welding robot and walking device, including a platform and multiple groups of boom main chords arranged below the platform, and also including two groups of welding machines, the two groups of welding machines are arranged on the upper end surface of the platform, a group of welding robot mechanisms are arranged on both sides of the lower end of the platform, a walking mechanism is arranged below the platform, and a dust suction mechanism is arranged on the lower end surface of the platform.

[0008] As a further solution of the present invention: the walking mechanism includes a roller assembly and a gear assembly, the roller assemblies are provided with four groups and are all arranged on the lower end surface of the platform, the gear assemblies are provided with two groups and are both arranged between the roller assemblies and the platform, the two groups of gear assemblies include two groups of rotating rods, the two groups of rotating rods are arranged on multiple groups of roller assemblies, and two groups of rotating rods are provided with two groups of rotating gears.

[0009] As a further solution of the present invention: the gear assembly also includes two groups of through grooves, the two groups of through grooves are opened on the platform, a group of driving motors are arranged on the inner walls of the two groups of through grooves, a group of rotating shafts are arranged at the output ends of the driving motors, the other ends of the two groups of rotating shafts are connected to a group of rotating rollers, and a group of connecting gear rings are arranged on both sides of the two groups of rotating rollers, and the two groups of connecting gear rings are respectively meshed and connected with multiple groups of rotating gears.

[0010] As a further solution of the present invention: the dust suction mechanism includes a dust suction box, which is arranged on the lower end surface of the platform, and a group of dust suction pipes are arranged on both side walls of the dust suction box, and a group of exhaust fans are arranged on the two groups of dust suction pipes, one end of the two groups of dust suction pipes is arranged inside the dust suction box, and the other end is connected to a group of dust suction hoods.

[0011] As a further solution of the present invention: an inclined filter plate is arranged on the side wall of the dust box, and the inclined filter plate is arranged at an inclination and at the lower part of the dust box.

[0012] As a further solution of the present invention: a water pipe is arranged on the side wall of the dust box, one end of the water pipe is arranged below the inside of the dust box, and the other end is arranged above the inside of the dust box, and a booster water pump is arranged on the water pipe.

[0013] As a further solution of the present invention: a fixed pipe is connected to the water pipe above the inside of the dust box, and a plurality of groups of atomizing nozzles are arranged on the fixed pipe, and the plurality of groups of atomizing nozzles are arranged on the fixed pipe at equal distances.

[0014] As a further solution of the present invention: a water supply pipe is connected to the side wall of the dust box, a drainage pipe is arranged below the water supply pipe, and a filter screen is arranged on one side wall of the dust box.

[0015] As a further solution of the present invention: two groups of first support rods are arranged between the upper and lower groups of the boom main chords, two groups of second support rods are arranged between the left and right groups of the boom main chords, and multiple groups of web rods are arranged on the inner sides of the two groups of first support rods. The multiple groups of web rods are cross-arranged at equal distances, and both ends are connected to the two groups of boom main chords.

[0016] An application of an intelligent welding robot and a walking device in the field of boom welding includes the following steps:

[0017] During automatic welding, the boom to be welded is placed in the welding area, the platform is placed on the boom to be welded, and the roller assembly is placed at one end above the main chord of the boom;

[0018] At this time, the welding robot mechanism is distributed on both sides of the main chord of the boom, with its ends facing downward. Two welding machines are fixed on both sides above the platform. Then the platform moves to the welding position through the control device. After the welding gun moves to the designated position of the weld to be welded, welding begins until the welding of this weld is completed, and then the welding of the next weld is started. This procedure is followed until the welding of the entire boom is completed.

[0019] After the welding of the lower side weld of the boom is completed, the entire platform is removed from above the main chord of the boom, the main chord of the boom is flipped 90 degrees and put in place, and the platform is placed on the flipped main chord of the boom again for automatic welding, flipping and cyclically performing the process in sequence until the web welding of the entire main chord of the boom is completed;

[0020] During welding, two sets of exhaust fans can be started. The two sets of exhaust fans extract dust floating in the surrounding air during welding through two sets of dust hoods and dust suction pipes, thereby transporting the dust to the inside of the dust suction box. When the exhaust fans are started, the booster water pump is started at the same time. The booster water pump transports water at the bottom of the dust suction box to the fixed pipe through the water pipe, and then sprays water on the dust through multiple sets of atomizing nozzles, thereby reducing the dust, and then the dust is discharged after being filtered through the filter.

[0021] Compared with the prior art, the beneficial effects of the present invention are: the application of the intelligent welding robot and the walking device in the field of boom welding, by setting a welding machine, a welding robot mechanism, a walking mechanism, a roller assembly and a gear assembly, can automatically weld the crawler boom, thereby improving welding efficiency, reducing labor intensity, and improving welding quality, which is effective in alleviating the impact of the shortage of welder labor on the industry and is relatively practical.

[0022] The application of the intelligent welding robot and the walking device in the field of boom welding can absorb and reduce dust in the surrounding environment during welding by setting a dust suction box, a dust suction pipe, an exhaust fan, a dust hood, an inclined filter plate, a water pipe, a booster pump, a fixed pipe, an atomizing nozzle, a water supply pipe, a drain pipe, and a filter. The dust suction mechanism is used to suck the external air into the dust suction box through the dust suction hood, and the water sprayed by the atomizing nozzle on the fixed pipe in the dust suction box is used to reduce dust in the air for the first time, and then the filter is used to filter out most of the dust in the air, and the air is dusted for the second time before being discharged. The overall use effect is good, the dust can be collected well, and the larger dust in the air can be filtered out to achieve the air purification effect. The use is convenient and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a structural schematic diagram of the side of the present invention.

[0025] Figure 3 for Figure 2 A is a schematic diagram of the enlarged structure.

[0026] Figure 4 It is a structural schematic diagram of the dust collection mechanism in the present invention.

[0027] Figure 5 It is a schematic diagram of the structure of the water delivery pipe in the present invention.

[0028] Figure 6 It is a schematic diagram of the structure inside the dust collection box of the present invention.

[0029] Among them: 1. platform; 2. main chord of the boom; 3. welding machine; 4. welding robot mechanism; 5. walking mechanism; 6. dust suction mechanism; 7. roller assembly; 8. gear assembly; 9. rotating rod; 10. rotating gear; 11. through slot; 12. driving motor; 13. rotating shaft; 14. rotating roller; 15. connecting gear ring; 16. dust suction box; 17. dust suction pipe; 18. exhaust fan; 19. dust suction hood; 20. inclined filter plate; 21. water supply pipe; 22. booster pump; 23. fixed pipe; 24. atomizing nozzle; 25. water supply pipe; 26. drainage pipe; 27. filter screen; 28. first support rod; 29. ​​second support rod; 30. belly rod. DETAILED DESCRIPTION

[0030] In one embodiment, Figure 1-Figure 6As shown, an intelligent welding robot and walking device include a platform 1 and multiple groups of boom main chords 2 arranged below the platform 1, and also include two groups of welding machines 3, the two groups of welding machines 3 are arranged on the upper end surface of the platform 1, and a group of welding robot mechanisms 4 are arranged on both sides of the lower end of the platform 1, a walking mechanism 5 is arranged below the platform 1, and a dust collection mechanism 6 is arranged on the lower end surface of the platform 1; the walking mechanism 5 includes a roller assembly 7 and a gear assembly 8, the roller assembly 7 is provided with four groups, and is all arranged on the lower end surface of the platform 1, the gear assembly 8 is provided with two groups, and is all arranged between the roller assembly 7 and the platform 1, and the two groups of gear assemblies 8 include two groups of rotating rods 9, and the two groups of rotating rods 9 are arranged on the multiple groups of roller assemblies. On the wheel assembly 7, two groups of rotating rods 9 are each provided with two groups of rotating gears 10; the gear assembly 8 also includes two groups of through grooves 11, the two groups of through grooves 11 are opened on the platform 1, and a group of driving motors 12 are each provided on the inner wall of the two groups of through grooves 11, and a group of rotating shafts 13 are each provided at the output end of the driving motor 12, and the other end of the two groups of rotating shafts 13 is each connected to a group of rotating rollers 14, and a group of connecting gear rings 15 are each provided on both sides of the two groups of rotating rollers 14, and the two groups of connecting gear rings 15 are respectively meshed and connected with multiple groups of rotating gears 10; during automatic welding, the boom to be welded is placed in the welding area, the platform 1 is placed on the boom to be welded, and the roller assembly 7 is placed at one end above the main chord 2 of the boom. At this time, the welding robot mechanism 4 is distributed on both sides of the boom main chord 2, with its end facing downward, and two welding machines 3 are fixed on both sides above the platform 1. Then the platform 1 walks to the welding position through the control device, and after the welding gun moves to the designated position of the designated weld to be welded, welding begins until the welding of this weld is completed, and then the welding of the next weld is entered. This procedure is followed until the welding of the entire boom is completed. After the welding of the weld on the lower side of the boom is completed, the entire platform 1 is moved out from above the boom main chord 2, the boom main chord 2 is flipped 90° and put in place, and the platform 1 is placed on the flipped boom main chord 2 again for automatic welding, and the flipping and circulation are performed in sequence until the welding of the web 30 of the entire boom main chord 2 is completed. By setting the welding machine 3, the welding robot mechanism 4, the walking mechanism 5, the roller assembly 7 and the gear assembly 8, the crawler crane boom can be automatically welded, the welding efficiency can be improved, the labor intensity can be reduced, and the welding quality can be improved. It is effective in alleviating the impact of the shortage of welders on the industry, and it is relatively practical.

[0031] like Figure 4-Figure 6As shown, the dust collection mechanism 6 includes a dust collection box 16, which is arranged on the lower end surface of the platform 1. A group of dust collection pipes 17 are arranged on both side walls of the dust collection box 16, and a group of exhaust fans 18 are arranged on the two groups of dust collection pipes 17. One end of the two groups of dust collection pipes 17 is arranged inside the dust collection box 16, and the other end is connected to a group of dust collection covers 19; an inclined filter plate 20 is arranged on the side wall of the dust collection box 16, and the inclined filter plate 20 is inclined and arranged at the bottom of the dust collection box 16; a water pipe 21 is arranged on the side wall of the dust collection box 16, and one end of the water pipe 21 is arranged at the bottom of the dust collection box 16. The other end is arranged above the inside of the dust box 16, and a booster water pump 22 is arranged on the water pipe 21; a fixed pipe 23 is connected to the water pipe 21 above the inside of the dust box 16, and multiple groups of atomizing nozzles 24 are arranged on the fixed pipe 23 at equal distances; a water supply pipe 25 is connected to the side wall of the dust box 16, and a drainage pipe 26 is arranged below the water supply pipe 25, and a filter screen 27 is arranged on one side wall of the dust box 16; when welding, two sets of exhaust fans 18 can be started, and the two sets of exhaust fans 18 extract the surrounding air during welding through the two sets of dust hoods 19 and the dust pipe 17. The dust floating in the dust collecting box 16 is transported to the inside of the dust collecting box 16, and the booster water pump 22 is started at the same time as the exhaust fan 18. The booster water pump 22 transports the water at the bottom of the dust collecting box 16 to the fixed pipe 23 through the water pipe 21, and then sprays the water on the dust through multiple groups of atomizing nozzles 24, so that the dust can be reduced, and then the dust is discharged after being filtered by the filter net 27. The dust collecting box 16, the dust collecting pipe 17, the exhaust fan 18, the dust collecting cover 19, the inclined filter plate 20, the water pipe 21, the booster water pump 22, the fixed pipe 23, the atomizing nozzle 24, the water supply pipe 25, and the drainage pipe 26 are provided. The dust collecting mechanism 6 composed of a filter screen 27 can absorb and reduce dust in the surrounding environment during welding. The external air is sucked into the dust collecting box 16 through the dust collecting hood 19 by the exhaust fan 18, and the water sprayed from the atomizing nozzle 24 on the fixed pipe 23 in the dust collecting box 16 is used to reduce dust in the air for the first time. The filter screen 27 is then used to filter out most of the dust in the air, and the air is subjected to a second dust removal, and finally discharged. The overall use effect is good, the dust can be collected well, and the larger dust in the air can be filtered out to achieve the air purification effect. The use is convenient and practical.

[0032] like Figure 1-Figure 2 As shown, two groups of first support rods 28 are arranged between the upper and lower groups of boom main chord rods 2, and two groups of second support rods 29 are arranged between the left and right groups of boom main chord rods 2; by arranging the first support rods 28 and the second support rods 29, multiple groups of boom main chord rods 2 can be supported, which is convenient for welding multiple groups of web rods 30. Multiple groups of web rods 30 are arranged inside the two groups of first support rods 28, and the multiple groups of web rods 30 are arranged crosswise at equal distances, and the two ends are connected to the two groups of boom main chord rods 2.

[0033] An application of an intelligent welding robot and a walking device in the field of boom welding includes the following steps: during automatic welding, the boom to be welded is placed in the welding area, the platform 1 is placed on the boom to be welded, and the roller assembly 7 is placed at one end above the boom main chord 2. At this time, the welding robot mechanism 4 is distributed on both sides of the boom main chord 2, with its ends facing downward, and two welding machines 3 are fixed on both sides above the platform 1. Then the platform 1 walks to the welding position through the control device, and after the welding gun moves to the designated position of the designated weld to be welded, welding begins until the welding of this weld is completed, and then the welding of the next weld is started. This procedure is followed until the welding of the entire boom is completed. After the welding of the lower side weld of the boom is completed, the entire platform 1 is removed from above the boom main chord 2, the boom main chord 2 is flipped 90° and put in place, and the platform 1 is placed on the flipped boom main chord 2 again for automatic welding, in sequence. The process is flipped and circulated until the welding of the web 30 of the entire boom main chord 2 is completed. During welding, two sets of exhaust fans 18 can be started. The two sets of exhaust fans 18 extract dust floating in the surrounding air during welding through two sets of dust hoods 19 and dust pipes 17, thereby transporting the dust to the inside of the dust box 16. When the exhaust fans 18 are started, the booster water pump 22 is started at the same time. The booster water pump 22 transports the water at the bottom of the dust box 16 to the fixed pipe 23 through the water pipe 21, and then sprays water on the dust through multiple sets of atomizing nozzles 24, thereby reducing the dust, and then the dust is discharged after being filtered by the filter 27.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent welding robot and a walking device, comprising a platform (1) and a plurality of arm main chords (2) arranged below the platform (1), characterized in that: It also includes two groups of welding machines (3), which are arranged on the upper end surface of the platform (1), a group of welding robot mechanisms (4) are arranged on both sides of the lower end of the platform (1), a walking mechanism (5) is arranged below the platform (1), and a dust collection mechanism (6) is arranged on the lower end surface of the platform (1).

2. An intelligent welding robot and walking device according to claim 1, characterized in that: The walking mechanism (5) comprises a roller assembly (7) and a gear assembly (8). The roller assembly (7) is provided with four groups and all are arranged on the lower end surface of the platform (1). The gear assembly (8) is provided with two groups and both are arranged between the roller assembly (7) and the platform (1). The two groups of gear assemblies (8) comprise two groups of rotating rods (9). The two groups of rotating rods (9) are arranged on the plurality of groups of roller assemblies (7). The two groups of rotating rods (9) are provided with two groups of rotating gears (10).

3. The intelligent welding robot and walking device according to claim 2, characterized in that: The gear assembly (8) further comprises two groups of through grooves (11), the two groups of through grooves (11) being formed on the platform (1), a group of driving motors (12) being arranged on the inner walls of the two groups of through grooves (11), a group of rotating shafts (13) being arranged at the output ends of the driving motors (12), the other ends of the two groups of rotating shafts (13) being connected to a group of rotating rollers (14), a group of connecting gear rings (15) being arranged on both sides of the two groups of rotating rollers (14), and the two groups of connecting gear rings (15) being respectively meshed and connected with the plurality of groups of rotating gears (10).

4. The intelligent welding robot and walking device according to claim 1, characterized in that: The dust collection mechanism (6) comprises a dust collection box (16), the dust collection box (16) being arranged on the lower end surface of the platform (1), a group of dust collection pipes (17) being arranged on both side walls of the dust collection box (16), a group of exhaust fans (18) being arranged on both groups of the dust collection pipes (17), one end of the two groups of the dust collection pipes (17) being arranged inside the dust collection box (16), and the other end being connected to a group of dust collection covers (19).

5. The intelligent welding robot and walking device according to claim 4, characterized in that: An inclined filter plate (20) is arranged on the side wall of the dust collection box (16); the inclined filter plate (20) is arranged at an inclination and is arranged at the lower part of the interior of the dust collection box (16).

6. The intelligent welding robot and walking device according to claim 4, characterized in that: A water pipe (21) is arranged on the side wall of the dust box (16), one end of the water pipe (21) is arranged at the bottom of the dust box (16), and the other end is arranged at the top of the dust box (16), and a booster water pump (22) is arranged on the water pipe (21).

7. The intelligent welding robot and walking device according to claim 6, characterized in that: A fixed pipe (23) is connected to the water pipe (21) at the top of the dust collection box (16), and a plurality of groups of atomizing nozzles (24) are arranged on the fixed pipe (23). The plurality of groups of atomizing nozzles (24) are arranged on the fixed pipe (23) at equal distances.

8. The intelligent welding robot and walking device according to claim 4, characterized in that: A water supply pipe (25) is connected to the side wall of the dust box (16), a drainage pipe (26) is arranged below the water supply pipe (25), and a filter screen (27) is arranged on one side wall of the dust box (16).

9. The intelligent welding robot and walking device according to claim 1, characterized in that: Two groups of first support rods (28) are arranged between the upper and lower groups of the boom main chords (2), and two groups of second support rods (29) are arranged between the left and right groups of the boom main chords (2). A plurality of web rods (30) are arranged inside the two groups of the first support rods (28). The plurality of web rods (30) are arranged crosswise at equal distances, and the two ends are connected to the two groups of the boom main chords (2).

10. Application of an intelligent welding robot and a walking device according to any one of claims 1 to 9 in the field of boom welding, characterized in that: The following steps are involved: During automatic welding, the arm to be welded is placed in the welding area, the platform (1) is placed on the arm to be welded, and the roller assembly (7) is placed at one end above the main chord (2) of the arm; At this time, the welding robot mechanism (4) is distributed on both sides of the boom main chord (2), with its ends facing downward, and two welding machines (3) are fixed on both sides above the platform (1). Then the platform (1) moves to the welding position through the control device, and after the welding gun moves to the designated position of the weld to be welded, welding begins until the welding of this weld is completed, and then the welding of the next weld begins. This procedure is followed until the welding of the entire boom is completed. After the welding of the lower side weld of the boom is completed, the entire platform (1) is removed from above the boom main chord (2), the boom main chord (2) is flipped 90 degrees and put in place, and the platform (1) is placed on the flipped boom main chord (2) again for automatic welding, and the flipping and cyclic process are performed in sequence until the welding of the web member (30) of the entire boom main chord (2) is completed; During welding, two sets of exhaust fans (18) can be started. The two sets of exhaust fans (18) extract dust floating in the surrounding air during welding through two sets of dust hoods (19) and dust suction pipes (17), thereby conveying the dust to the inside of the dust suction box (16). When the exhaust fans (18) are started, the booster water pump (22) is started at the same time. The booster water pump (22) conveys water at the bottom of the dust suction box (16) to the fixed pipe (23) through the water delivery pipe (21), and then sprays water on the dust through multiple sets of atomizing nozzles (24), thereby reducing the dust. The dust is then discharged after being filtered by the filter net (27).

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